All sources were taken from ROS documentation
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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
roslaunch loam_velodyne loam_velodyne.launch
In second terminal play sample velodyne data from VLP16 rosbag:
rosbag play ~/Downloads/velodyne.bag
Or read from velodyne VLP16 sample pcap:
roslaunch velodyne_pointcloud VLP16_points.launch pcap:="$HOME/Downloads/velodyne.pcap"
multiScanRegistration crashes right after playing bag file
Issues #71 and
#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
accordingly so that catkin can find it. See this
for more details.
Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications. Derek Anthony Wolfe