Re: Build RtabMap with Velodyne and LOAM

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-RtabMap-with-Velodyne-and-LOAM-tp6536p6544.html

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