lego loam 跑镭神32线激光雷达

最新推荐文章于 2024-07-26 19:25:19 发布

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最新推荐文章于 2024-07-26 19:25:19 发布

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原文链接：http://www.cnblogs.com/hgl0417/p/11067660.html

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本文介绍了如何让lego loam处理镭神32线激光雷达（32C）的数据包。由于lego loam默认接受的topic和frame_id与镭神雷达不匹配，需要通过编写转换程序并修改lego loam的launch文件和utility.h配置。同时，需要解除imageProjection.cpp中的特定注释，并确保使用--clock参数运行bag文件。

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师弟反应镭神32线激光雷达（32C）录制的数据包不能跑lego loam，这里就总结一下。

首先lego loam默认的接受的topic name是velodyne_points，点云的frame_id是velodyne，镭神驱动发布的topic name为point_raw，frame_id为world这里需要写一个程序转一下：

#include "ros/ros.h"
#include "std_msgs/String.h"
#include "sensor_msgs/PointCloud2.h"
#include <string>

#include <sstream>

/**
 * This tutorial demonstrates simple sending of messages over the ROS system.
 */

static ros::Publisher g_scan_pub;

static void main_topic_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
    sensor_msgs::PointCloud2 msg = *input;
    msg.header.frame_id = "velodyne";
    g_scan_pub.publish(msg);
}


int main(int argc, char *argv[])
{
    /**
     * The ros::init() function needs to see argc and argv so that it can perform
     * any ROS arguments and name remapping that were provided at the command line.
     * For programmatic remappings you can use a different version of init() which takes
     * remappings directly, but for most command-line programs, passing ar