Setting Up VTR3 with a New Sensor or Robot

LiDAR

Any LiDAR sensor that generates sensor_msgs/msg/PointCloud2 should be compatible with the system. So far, we have used Velodyne HDL-64, VLP-32, and AlphaPrime as well as Ouster OS1, and Waymo Honeycomb.

Depending on what fields are stored in the point cloud, you may need to create a conversion module. Ultimately all of X, Y, Z, time, and spherical coordinates rho, theta, phi must be present for the algorithm to function. If per point timings are unavailable you can estimate them based on your LiDAR's scan pattern or you cannot use continuous time estimation.

The lidar frame and topic should be set in a custom config file. (Copy config/honeycomb_default.yaml to start)