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本文链接:https://blog.csdn.net/Zed_Of_Zoe/article/details/117254473
目录
- 1. 速腾RS16激光雷达驱动配置
- 2. LeGO-LOAM修改
- 2.1 utility.h
- 2.2 imageProjection.cpp
- 2.3 run.launch
- 3. 编译运行
1. 速腾RS16激光雷达驱动配置
见我的上一篇博客 https://blog.csdn.net/Zed_Of_Zoe/article/details/117092241
2. LeGO-LOAM修改
2.1 utility.h
- 75行
extern const string pointCloudTopic = "/rslidar_points";
- 191行附近, 添加结构体
PointXYZIRT
struct PointXYZIRT
{
PCL_ADD_POINT4D;
float intensity;
uint16_t ring = 0;
double timestamp = 0;
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGEN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT(PointXYZIRT, (float, x, x)(float, y, y)(float, z, z)(float, intensity, intensity)(
uint16_t, ring, ring)(double, timestamp, timestamp))
2.2 imageProjection.cpp
将所有的PointXYZIR
替换为PointXYZIRT
2.3 run.launch
16行, 添加静态tf
<node pkg="tf" type="static_transform_publisher" name="rslidar_to_base_link" args="0 0 0 0 0 0 /base_link /rslidar 10" />
3. 编译运行
与LeGO-LOAM一样编译运行, 可能其中还有一些要改的地方我忘记了.
我修改的版本见 https://gitee.com/xinkaized/LeGO-LOAM-RS16
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