Lidar Odometry And Mapping source

This version of the code has been adopted from here

 - The original version of this code in the above link is set to work with velodyne lidar
 - This code in this repo has been modified to be used with Ouster OS_1 lidar, which takes care of the 
 lidar resolution, fov and the frame of reference

✅ Tested on Ubuntu 16.04 with ROS Kinetic and Ouster OS1 16. (Youtube)

All sources were taken from ROS documentation Ask questions here.

How to build with catkin

$ cd ~/catkin_ws/src/
$ https://github.com/DeepakKarishetti/loam
$ cd ~/catkin_ws
$ catkin_make -DCMAKE_BUILD_TYPE=Release 
$ source ~/catkin_ws/devel/setup.bash

Launch

roslaunch loam_velodyne loam_ouster.launch

In another terminal play a rosbag file containing the appropriate topic name mentioned in the launch file Or a lidar can be used in real time to get the range measurements

rosbag play <bag_file_name> 

 - In this example implementation a rosbag file is used and the topic used is /os1_cloud_node/points
 - The registered point cloud is published on the topic name /laser_cloud_surround
 - This can be recorded into a rosbag and can be converted into a pcd format using pcl_ros
 - The pcd files can be visualized using pcl_viewer