3D-SLAM入门教程-多线雷达A-LOAM三维建图

3D-SLAM入门教程-多线雷达A-LOAM三维建图

说明：

• 介绍安装A-LOAM建图

步骤：

• 安装ros
• 安装Ceres Solver
• 安装PCL
• 编译A-LOAM

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

数据集测试：

• Velodyne VLP-16 Example,下载数据集地址

• 测试：

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag

• KITTI Example (Velodyne HDL-64), 下载数据集地址

• 运行：

roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch
roslaunch aloam_velodyne kitti_helper.launch

参考：

• https://github.com/HKUST-Aerial-Robotics/A-LOAM