Ubuntu16.04下loam的配置

首先要安装ROS和PCL

安装ROS比较简单，可以参考其他教程，安装PCL可以看我之前的爬坑经历

进行配置

搭建ROS环境

mkdir -p ~/catkin_ws/src
cd ..
cd catkin_ws
catkin_make
source devel/setup/bash

下载loam

cd catkin_ws
cd src
git clone https://github.com/laboshinl/loam_velodyne.git 
cd ..
sudo apt-get install ros-kinetic-manipulation-msgs
catkin_make -DCMAKE_BUILD_TYPE=Release
source ~/catkin_ws/devel/setup.bash

运行

roslaunch loam_velodyne loam_velodyne.launch

在新的端口内输入

rosbag play *.bag

就可以打开你所需要查看的文件了