FengD / ndt_mapping

hdl_graph_slam_package

DESCRIPTION

This package is used to execute a lidar slam.

RELATED Package

[calibration] (https://github.com/FengD/lidar_init_calibration) (provide an initializaition calibration yaml file) [ndt_omp] (http://gitlabout.hirain.com/feng.ding1/hdl_mapping-ndt-omp.git) (provide a multi-thread ndt method)

Dependencies

[g2o] (https://github.com/RainerKuemmerle/g2o.git): please roll back to the commit a48ff8c42136f18fbe215b02bfeca48fa0c67507 and build.

BUILD

• create a new folder and a src folder in it mkdir example mkdir example/src
• clone the project in the src folder git clone http://gitlab.hirain.com/feng.ding1/hdl_mapping.git
• catkin_make -DCMAKE_BUILD_TYPE=Release

EXECUTE

• roslaunch hdl_graph_slam hi_slam.launch bag_filename:=[bag file path]

• roslaunch hdl_graph_slam hi_slam_multi_frame.launch bag_filename:=[bag file path]

Example