一.编译roslaunch loam_velodyne loam_velodyne.launchc出现以下报错
[multiScanRegistration-2] process has died
解决办法:将catkin_ws/src/loam_velodyne/src/LaserMapping.cpp 的139-153行注释掉,如下图.
2.Error transforming odometry 'Odometry' from frame '/camera_init' to frame 'camera_init'
解决办法:将以下路径文件中的"/camera_init" 改为"camera_init".
二.注意:修改完成之后要在catkin_ws目录下编译运行
catkin_make
source ~/devel/setup.bash
之后运行你下载的数据集(打开终端位于你下载数据集的位置)
rosbag play nsh_indoor_outdoor.bag
运行成功