Skip to content

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

License

Notifications You must be signed in to change notification settings

hitbg-yjm/loam_velodyne

Repository files navigation

Installation:

cd /opt/ros/indigo/stacks/
git clone https://github.com/laboshinl/loam_velodyne.git
cd loam_velodyne
cmake .
rosmake

Running:

roslaunch loam_velodyne.launch

In second terminal play sample velodyne data from rosbag (http://www.frc.ri.cmu.edu/~jizhang03/Datasets/nsh_indoor_outdoor.bag):

rosbag play ~/Downloads/nsh_indoor_outdoor.bag 

Or read from velodyne pcap (http://midas3.kitware.com/midas/download/item/215411):

roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/laboshinl/calib.yaml pcap:="/home/laboshinl/Downloads/velodyne.pcap"

About

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • C++ 98.4%
  • Other 1.6%