Sample map built from nsh_indoor_outdoor.bag (opened with ccViewer)

✅ Tested with ROS Indigo and Velodyne VLP16. (Screencast)

All sources were taken from ROS documentation

Ask questions here.

How to build 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

Running:

roslaunch loam_velodyne loam_velodyne.launch

In second terminal play sample velodyne data from VLP16 rosbag:

rosbag play ~/Downloads/velodyne.bag 

Or read from velodyne VLP16 sample pcap:

roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/laboshinl/Downloads/velodyne.pcap"

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[Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications.] (https://ceen.et.byu.edu/sites/default/files/snrprojects/wolfe_derek.pdf) Derek Anthony Wolfe

[ROS & Loam_velodyne] (https://ishiguro440.wordpress.com/2016/04/05/%E5%82%99%E5%BF%98%E9%8C%B2%E3%80%80ros-loam_velodyne/)