https://github.com/laboshinl/loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
https://github.com/laboshinl/loam_velodyne

3d computer-vision lidar loam loam-velodyne mapping pcl pointcloud ros slam velodyne

Last synced: 6 days ago
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Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.

• Host: GitHub
• URL: https://github.com/laboshinl/loam_velodyne
• Owner: laboshinl
• License: other
• Created: 2016-02-04T11:01:02.000Z (almost 9 years ago)
• Default Branch: master
• Last Pushed: 2019-06-18T17:00:43.000Z (over 5 years ago)
• Last Synced: 2024-11-30T12:04:28.387Z (13 days ago)
• Topics: 3d, computer-vision, lidar, loam, loam-velodyne, mapping, pcl, pointcloud, ros, slam, velodyne
• Language: C++
• Homepage: http://wiki.ros.org/loam_velodyne
• Size: 966 KB
• Stars: 1,714
• Watchers: 83
• Forks: 952
• Open Issues: 107
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-slam - CODE
• awesome-robotic-tooling - loam_velodyne - Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar. (Localization / SLAM)
• awesome-robotic-tooling - loam_velodyne - Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar. (Simultaneous Localization and Mapping / Lidar)

README

        
# loam_velodyne

![Screenshot](/capture.bmp)

Sample map built from [nsh_indoor_outdoor.bag](http://www.frc.ri.cmu.edu/~jizhang03/Datasets/nsh_indoor_outdoor.bag) (opened with [ccViewer](http://www.danielgm.net/cc/))

:white_check_mark: Tested with ROS Indigo and Velodyne VLP16. [(Screencast)](https://youtu.be/o1cLXY-Es54)

All sources were taken from [ROS documentation](http://docs.ros.org/indigo/api/loam_velodyne/html/files.html)

Ask questions [here](https://github.com/laboshinl/loam_velodyne/issues/3).

## How to build with catkin

```

$ cd ~/catkin_ws/src/

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

$ cd ~/catkin_ws

$ catkin_make -DCMAKE_BUILD_TYPE=Release 

$ source ~/catkin_ws/devel/setup.bash

```

## Running

```

roslaunch loam_velodyne loam_velodyne.launch

```

In second terminal play sample velodyne data from [VLP16 rosbag](http://www.frc.ri.cmu.edu/~jizhang03/Datasets/):

```

rosbag play ~/Downloads/velodyne.bag 

```

Or read from velodyne [VLP16 sample pcap](https://midas3.kitware.com/midas/folder/12979):

```

roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap"

```

## Troubleshooting

### `multiScanRegistration` crashes right after playing bag file

Issues [#71](https://github.com/laboshinl/loam_velodyne/issues/71) and

[#7](https://github.com/laboshinl/loam_velodyne/issues/7) address this

problem. The current known solution is to build the same version of PCL that

you have on your system from source, and set the `CMAKE_PREFIX_PATH`

accordingly so that catkin can find it. See [this

issue](https://github.com/laboshinl/loam_velodyne/issues/71#issuecomment-416024816)

for more details.

---

[Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications.](https://ceen.et.byu.edu/sites/default/files/snrprojects/wolfe_derek.pdf) Derek Anthony Wolfe

[ROS & Loam_velodyne](https://ishiguro440.wordpress.com/2016/04/05/%E5%82%99%E5%BF%98%E9%8C%B2%E3%80%80ros-loam_velodyne/)