运行lego-loam程序 roslaunch lego_loam run.launch 1 注意播放bag时要加--clock参数输出/clock时间,然后lego-loam的launch文件需要将/use_sim_time参数设置为true。如果是实时在线跑的话,/use_sim_time参数设置为false。 如果使用的是ubuntu 20.04,该版本的rviz不支持frame_id前加/,因此需要把lego-loam程序中的...
LEGO-LOAM + ROS Noetic的坑 技术标签: 自动驾驶 人工智能 机器学习LEGO-LOAM + ROS Noetic的坑 环境说明ROSUbuntu20.04+ROS Noetic(debian full desktop ver)相关依赖pcl, opencv都是默认apt装上的版本,分别是1.10.x和4.x,本例编译运行成功无需更换版本。 gtsam通过github编译安装 https://github.com/borglab...
Maybe this helps someone. I used$ cmake -j1with success. LeGO-LOAM runs fine now for me. CMakeLists.txt Solved hi, I need some helps to use velodyne vlp-16 with Lego-loam. I am using same ros-noetic and ubuntu 20.04. Would you like to give me some suggestions? L-Reichardt comment...
An error occured when I buid the LeGO-LOAM on ubuntu 20.04. The error info is shown below. /usr/include/pcl-1.10/pcl/filters/voxel_grid.h: In member function ‘std::vector<int> pcl::VoxelGrid<PointT>::getNeighborCentroidIndices(const Poin...
hzl:从0.3开始搭建LeGO-LOAM+VLP雷达+小车实时建图(保姆级教程,小白踩坑日记)(五:基于小车的实时建图) LeGO-LOAM 代码 源代码github:github.com/RobustFieldA 优化版本的代码:github.com/facontidavid 硬件设备:Intel NUC 10代i7(NUC10i7FNH) 软件系统:Ubuntu 16.04 如果要正确编译、运行算法,相关依赖库必须...
问题记录-基于速腾聚创16线激光雷达的激光Slam开源算法测试之LeGO-Loam,程序员大本营,技术文章内容聚合第一站。
系列传送门 hzl:从0.3开始搭建LeGO-LOAM+VLP雷达+小车实时建图(保姆级教程,小白踩坑日记)(一:编译算法前的准备) hzl:从0.3开始搭建LeGO-LOAM+VLP雷达+小车实时建图(保姆级教程,小白踩坑日记)(二:编译…
LEGO-LOAM + ROS Noetic的坑 环境说明ROSUbuntu20.04+ROS Noetic(debian full desktop ver)相关依赖pcl, opencv都是默认apt装上的版本,分别是1.10.x和4.x,本例编译运行成功无需更换版本。 gtsam通过github编译安装 https://github.com/borglab/gtsamLeGO-LOAM实现...
将LeGO LOAM的思路迁移到大疆Livox Horizon激光雷达上,从而实现轻量化的激光SLAM系统。本项目在算法上的创新性贡献不大,但是在代码实现方面有如下几点改善: 地面提取 由于livox的点云不像传统旋转式机械激光雷达那样规则分布,因此我们采用Run_based_segmentation的地平面拟合方法进行地面提取。 点云聚类分割 项目中有尝试...
2.1. LeGO-LOAM Algorithm LeGO-LOAM is a lightweight real-time positioning and mapping algorithm based on 3D LiDAR, which mainly consists of five parts: point cloud segmentation, feature extraction, LiDAR odometry, LiDAR mapping, and pose integration. It takes 3D LiDAR point clouds as the input...