Build RtabMap with Velodyne and LOAM

[bj-neilson]

Hi Mathieu,

Another question about Velodyne integration I’m sorry.

I’ve seen during the build process options for enabling Velodyne and LOAM support.  I haven’t figured out how to do it.  Are you able to offer any suggestions?

I have 2 ROS packages installed, Velodyne and Velodyne LOAM, which creates an odometry topic among other things though it looks like it needs some work to get it going properly to manage TF/frame I’d issues.

Do you have any suggestions regarding native support for these tools within rtabmap? You’ve evolved the software so much since the beginning.  2 year old forum posts can sometimes now be outdated!

Thanks so much.  Just trying to get some new gps’s configured with Ardurover then I’ll have a nice .bag from the ZED and the Velodyne for you. I’ll try to attach an image here...

[matlabbe]

Hi,

Look at this post: http://official-rtab-map-forum.206.s1.nabble.com/Ouster-drive-under-the-rain-td6496.html

There are also test_ouster.launch and test_velodyne.launch.

Those examples are lidar-only and require that rtabmap is built with libpointmatcher. For velodyne LOAM, there is an integration in rtabmap if LOAM is built with a patch. Odometry/Strategy=7 can then be used with icp_odometry node.

Another option is to use LOAM externally to rtabmap to provide odometry to rtabmap node. I don't have examples of such setup, though some people were able to use it.

cheers,
Mathieu