How to build with catkin:
$ cd ~/catkin_ws/src/
$ git clone https://github.com/laboshinl/loam_velodyne.git
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release
$ source ~/catkin_ws/devel/setub.bash
Running:
roslaunch ~/catkin_ws/src/loam_velodyne/launch/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"