Sample map of NSH B floor built from [husky.bag]

Requirements

Note that this package should be installed in ROS indigo in Ubuntu 14.04

The following ROS packages are required:

• pcl_ros
• loam_velodyne

sudo apt-get install ros-indigo-pcl-ros

How to build loam_velodyne 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

Husky Dataset Instructions

Download husky.bag

Quad Dataset Instructions

Download nardos3.bag

Running

roslaunch loam_velodyne loam_velodyne.launch

In second terminal play sample husky or quadcopter velodyne data:

rosbag play ~/Downloads/husky.bag
              (or)
rosbag play ~/Downloads/nardo3.bag

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