使用速腾激光雷达和KITTI数据集运行A-LOAM

Posted 2021-07-26 Hill_LAI

1-运行速腾聚创数据包

速腾聚创数据地址
百度云盘
链接: https://pan.baidu.com/s/1Kfl275blg5s3gqB7AYDrQg 提取码: u8zp

修改执行文件

<launch>
    
    <param name="scan_line" type="int" value="16" />

    <!-- if 1, do mapping 10 Hz, if 2, do mapping 5 Hz. Suggest to use 1, it will adjust frequence automaticlly -->
    <param name="mapping_skip_frame" type="int" value="1" />

    <!-- remove too closed points -->
    <param name="minimum_range" type="double" value="0.3"/>


    <param name="mapping_line_resolution" type="double" value="0.2"/>
    <param name="mapping_plane_resolution" type="double" value="0.4"/>

    <node pkg="aloam_velodyne" type="ascanRegistration" name="ascanRegistration" output="screen">
       <remap from="/velodyne_points" to="/rslidar_points" />
    </node>

    <node pkg="aloam_velodyne" type="alaserOdometry" name="alaserOdometry" output="screen">
       <remap from="/velodyne_points" to="/rslidar_points" />
    </node>

    <node pkg="aloam_velodyne" type="alaserMapping" name="alaserMapping" output="screen">
       <remap from="/velodyne_points" to="/rslidar_points" />
    </node>

    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find aloam_velodyne)/rviz_cfg/aloam_velodyne.rviz" />
    </group>

</launch>

然后rosbag play 数据包就可以了

2-运行KITTI数据集

KITTI数据地址
百度云盘
链接: https://pan.baidu.com/s/1aAAgNyI9M1YcXBF2zNBNGg 提取码: aw23