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