From e46420fb78c13130b737d5c7ed34add295f42589 Mon Sep 17 00:00:00 2001 From: Naoki Mizuno Date: Mon, 10 Dec 2018 02:06:15 +0900 Subject: [PATCH 1/4] Use headers --- README.md | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/README.md b/README.md index 489d73b4..419bfaaf 100644 --- a/README.md +++ b/README.md @@ -1,3 +1,5 @@ +# loam_velodyne + ![Screenshot](/capture.bmp) Sample map built from [nsh_indoor_outdoor.bag](http://www.frc.ri.cmu.edu/~jizhang03/Datasets/nsh_indoor_outdoor.bag) (opened with [ccViewer](http://www.danielgm.net/cc/)) @@ -7,7 +9,7 @@ All sources were taken from [ROS documentation](http://docs.ros.org/indigo/api/l Ask questions [here](https://github.com/laboshinl/loam_velodyne/issues/3). -How to build with catkin: +## How to build with catkin ``` $ cd ~/catkin_ws/src/ @@ -17,7 +19,8 @@ $ catkin_make -DCMAKE_BUILD_TYPE=Release $ source ~/catkin_ws/devel/setup.bash ``` -Running: +## Running + ``` roslaunch loam_velodyne loam_velodyne.launch ``` From 1ec9dfbd27395e78beb7c0c590bb049613943bbc Mon Sep 17 00:00:00 2001 From: Naoki Mizuno Date: Mon, 10 Dec 2018 02:08:38 +0900 Subject: [PATCH 2/4] Fix broken link to bag file Fixes #32. --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index 419bfaaf..ca805e0f 100644 --- a/README.md +++ b/README.md @@ -25,7 +25,7 @@ $ source ~/catkin_ws/devel/setup.bash roslaunch loam_velodyne loam_velodyne.launch ``` -In second terminal play sample velodyne data from [VLP16 rosbag](https://db.tt/t2r39mjZ): +In second terminal play sample velodyne data from [VLP16 rosbag](http://www.frc.ri.cmu.edu/~jizhang03/Datasets/): ``` rosbag play ~/Downloads/velodyne.bag ``` From c432a328d0901a5b56a6b77a01f715b08160ba41 Mon Sep 17 00:00:00 2001 From: Naoki Mizuno Date: Mon, 10 Dec 2018 02:09:25 +0900 Subject: [PATCH 3/4] Use $HOME for path to pcap file --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index ca805e0f..b6c44af0 100644 --- a/README.md +++ b/README.md @@ -32,7 +32,7 @@ rosbag play ~/Downloads/velodyne.bag Or read from velodyne [VLP16 sample pcap](https://midas3.kitware.com/midas/folder/12979): ``` -roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/laboshinl/Downloads/velodyne.pcap" +roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap" ``` --- From af6797281977682a66904f8a26d20a723f581b36 Mon Sep 17 00:00:00 2001 From: Naoki Mizuno Date: Mon, 10 Dec 2018 02:16:00 +0900 Subject: [PATCH 4/4] Add link to solution for multiScanRegistration crashing Fixes #71. --- README.md | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/README.md b/README.md index b6c44af0..7108e9c9 100644 --- a/README.md +++ b/README.md @@ -35,6 +35,19 @@ Or read from velodyne [VLP16 sample pcap](https://midas3.kitware.com/midas/folde roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap" ``` +## Troubleshooting + +### `multiScanRegistration` crashes right after playing bag file + +Issues [#71](https://github.com/laboshinl/loam_velodyne/issues/71) and +[#7](https://github.com/laboshinl/loam_velodyne/issues/7) address this +problem. The current known solution is to build the same version of PCL that +you have on your system from source, and set the `CMAKE_PREFIX_PATH` +accordingly so that catkin can find it. See [this +issue](https://github.com/laboshinl/loam_velodyne/issues/71#issuecomment-416024816) +for more details. + + --- [Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications.](https://ceen.et.byu.edu/sites/default/files/snrprojects/wolfe_derek.pdf) Derek Anthony Wolfe