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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:

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:

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag
roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch
roslaunch aloam_velodyne kitti_helper.launch

参考:

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

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标签: 3d-slam入门教程