用速腾RS16跑LeGO-LOAM

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本文链接：https://blog.csdn.net/Zed_Of_Zoe/article/details/117254473

1. 速腾RS16激光雷达驱动配置

见我的上一篇博客 https://blog.csdn.net/Zed_Of_Zoe/article/details/117092241

2. LeGO-LOAM修改

2.1 utility.h

1. 75行 extern const string pointCloudTopic = "/rslidar_points";
2. 191行附近, 添加结构体PointXYZIRT

struct PointXYZIRT
{
  PCL_ADD_POINT4D;
  float intensity;
  uint16_t ring = 0;
  double timestamp = 0;
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT(PointXYZIRT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(
                                                     uint16_t, ring, ring)(double, timestamp, timestamp))

2.2 imageProjection.cpp

将所有的PointXYZIR替换为PointXYZIRT

2.3 run.launch

16行, 添加静态tf

    <node pkg="tf" type="static_transform_publisher" name="rslidar_to_base_link" args="0 0 0 0 0 0        /base_link /rslidar   10" />

3. 编译运行

与LeGO-LOAM一样编译运行, 可能其中还有一些要改的地方我忘记了.
我修改的版本见 https://gitee.com/xinkaized/LeGO-LOAM-RS16