参考自利用aloam跑数据集_aloam数据集-CSDN博客

第一步：查看bag的信息

输入rosbag info来查看bag包的信息：

joey@joey-Legion-Y7000P-IRX9:~$ rosbag info '/home/joey/Downloads/data2022/indoor/LiDAR_IMU.bag' 
path:        /home/joey/Downloads/data2022/indoor/LiDAR_IMU.bag
version:     2.0
duration:    1:34s (94s)
start:       Apr 11 2022 22:27:35.73 (1649687255.73)
end:         Apr 11 2022 22:29:10.34 (1649687350.34)
size:        2.5 GB
messages:    19869
compression: none [947/947 chunks]
types:       sensor_msgs/Imu         [6a62c6daae103f4ff57a132d6f95cec2]
             sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
topics:      /hesai/pandar     946 msgs    : sensor_msgs/PointCloud2
             /imu/data       18923 msgs    : sensor_msgs/Imu

可以看到topic中包含hesai和imu两份数据。

第二步：修改aloam中的部分

在launch中修改：使用remap

 <node pkg="aloam_velodyne" type="ascanRegistration" name="ascanRegistration" output="screen" >
            
            <remap from="/velodyne_points" to="/hesai/pandar"/>
        </node>

完整的launch文件如下：（只需要改一处即可）

<launch>
    
    <param name="scan_line" type="int" value="32" />

    <!-- if 1, do mapping 10 Hz, if 2, do mapping 5 Hz. Suggest to use 1, it will adjust frequence automaticlly -->
    <param name="mapping_skip_frame" type="int" value="1" />

    <!-- remove too closed points -->
    <param name="minimum_range" type="double" value="0.3"/>


    <param name="mapping_line_resolution" type="double" value="0.2"/>
    <param name="mapping_plane_resolution" type="double" value="0.4"/>

    <node pkg="aloam_velodyne" type="ascanRegistration" name="ascanRegistration" output="screen" >
        <remap from="/velodyne_points" to="/hesai/pandar"/>
    </node>
    <node pkg="aloam_velodyne" type="alaserOdometry" name="alaserOdometry" output="screen" />

    <node pkg="aloam_velodyne" type="alaserMapping" name="alaserMapping" output="screen" />

    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find aloam_velodyne)/rviz_cfg/aloam_velodyne.rviz" />
    </group>

</launch>

 修改之后，启动aloam

source devel/setup.bash
roslaunch aloam_velodyne aloam_velodyne_HDL_32.launch //还可以运行不同的.launch文件，跑不同线束的激光雷达。

 rosbag play **.bag --clock 播发数据，可以看到运行效果。

补充 hesai Pandar-XT32的参数，在用lego-loam跑数据时，需要修改一下utility.h头文件中的参数：

// VLP-16
//extern const int N_SCAN = 16;
//extern const int Horizon_SCAN = 1800;
//extern const float ang_res_x = 0.2;
//extern const float ang_res_y = 2.0;
//extern const float ang_bottom = 15.0+0.1;
//extern const int groundScanInd = 7;

//Hesai Pandar-XT32
extern const int N_SCAN = 32;
extern const int Horizon_SCAN = 2000;
extern const float ang_res_x = 0.18;
extern const float ang_res_y = 1.0;
extern const float ang_bottom = 15+0.1;
extern const int groundScanInd =12;

 修改之后重新编译一下即可。