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
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"
Quantifying Aerial LiDAR Accuracy of LOAM for Civil Engineering Applications. Derek Anthony Wolfe