ros環境搭建
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
下載loam編譯
cd ~/catkin_ws/src
git clone https://github.com/laboshinl/loam_velodyne.git
cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release
source ~/catkin_ws/devel/setup.bash
運行
roslaunch loam_velodyne loam_velodyne.launch
rosbag play 文件名.bag
保存地圖
選擇右側最上面Global Options列表下的Fixed Frame選擇Laser _odom
選擇pointClouds列表下的Topic選擇laser_cloud_surround
打開另一個窗口 rosbag record -o out /laser_cloud_surround 錄制
若太大則加上 rosbag record -o -out /laser_cloud -b 40960 注：laser_cloud是因為surround會消失新建的話題 等同於laser_cloud_surround只是不會消失
ctrl+C結束錄制生成out_（時間）.bag
轉PCD
rosrun pcl_ros bag_to_pcd out_（時間）.bag /laser_cloud_surround pcd
查看
cd pcd
pcl_viewer （文件名）如：1566443218.880078077.pcd
pcl_convert_pcd_ascii_binary <file_in.pcd> <file_out.pcd> 0/1/2 (ascii/binary/binary_compressed) 轉換文件名
