Added suppport for OUSTER 16Gen1 64Gen1 128Gen1 64Gen2 LIDARs It should also work with original velodyne series.
#Video https://www.youtube.com/watch?v=lttLV0zQ2BM
Do not use ROS version of PCL as it end up with seg fault
Download PCL and install separately. mkdir build && make
Change the link in the cmakelist to your build
Modifiy SET("PCL_DIR" "XXXXX" to your directory. Sample is given inside
LIDAR selection options are -- options: OS-64-gen1 OS-64-gen2 OS-128-gen1 VLP-16 HDL-32 HDL-64E --
#Bag download http://data.ouster.io/sample-data-2018-08-29/index.html
cd ~/catkin_ws/src/
git clone https://github.com/snakehaihai/LOAM_OUSTER64.git // this package
git clone https://github.com/ouster-lidar/ouster_example.git //for convert packet to pointcloud
Build PCL Modifiy SET("PCL_DIR" "XXXXX" to your directory.
$ cd ~/catkin_ws
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch ouster_ros os1.launch replay:=true //convert packet to pointcloud
$ rosparam set /use_sim_time true
$ roslaunch loam_ouster loam_ouster.launch
$ rosbag play --clock -s 30 -r 0.2 '/home/snake/catkin_ws/OS1_bag/2018-08-29-16-46-17_0.bag'
In their bag. first 30 sec has no movement. Need to run it at 0.2 so that my PC can work. or state estimation will be wrong all the way
Also Oyster IMU is in fucked up format at the moment, so dont use it. Other sample BAG can be found at http://data.ouster.io/sample-data-2018-08-29/index.html
@conference{Zhang-2014-7903, author = {Ji Zhang and Sanjiv Singh}, title = {LOAM: Lidar Odometry and Mapping in Real-time}, booktitle = {Robotics: Science and Systems Conference}, year = {2014}, month = {July}, }