运行loam_velodyne实时建图

1、下载源码

 

cd catkin_ws/src

git clone git://github.com/laboshinl/loam_velodyne.git

2、编译前修改文件内容如下(确保编译不报错)

/home/d/catkin_ws/src/loam_velodyne-master/src/lib/LaserMapping.cpp

注释139-153行

3、编译：

catkin_make -DCMAKE_BUILD_TYPE=Release

4、启动雷达，及进行建图{Loam建图}

4.1、启动雷达(velodyne-master文件已经存在的情况下)

roslaunch velodyne_pointcloud VLP16_points.launch calibration:=/home/d/catkin_ws/src/velodyne-master/velodyne_pointcloud/params/VLP16db.yaml

4.2、建图

roslaunch loam_velodyne loam_velodyne.launch