1.搭建文件目录和clone代码

mkdir -p SC-LeGo-LOAM/src
cd SC-LeGo-LOAM/src
git clone https://github.com/AbangLZU/SC-LeGO-LOAM.git
cd ..

2.修改代码

需要注意的是原作者使用的是Ouster OS-64雷达，需要更改utility.h文件中适配自己的雷达类型，而本文采用velodyne 16线激光雷达，对utility.h文件要做以下修改

首先是pointCloudTopic

extern const string pointCloudTopic = "/os1_points";

替换为

extern const string pointCloudTopic = "/velodyne_points";

其次：

Ouster OS1-64
extern const int N_SCAN = 64;
extern const int Horizon_SCAN = 1024;
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 33.2/float(N_SCAN-1);
extern const float ang_bottom = 16.6+0.1;
extern const int groundScanInd = 15;

替换为

1）对于16线的VLP雷达，添加

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;

2）对于64线的VLP雷达，添加

extern const int N_SCAN = 64;
extern const int Horizon_SCAN = 2083;
extern const float ang_res_x = 360.0/float(Horizon_SCAN);
extern const float ang_res_y = 26.8/float(N_SCAN-1);
extern const float ang_bottom = 24.8;
extern const int groundScanInd = 55;

最后：

注释掉：

#include <opencv/cv.h>

加入：

#include <opencv2/opencv.hpp>

并且将

#include <pcl/kdtree/kdtree_flann.h>

剪切到#include <opencv2/opencv.hpp>前面去

3.编译和运行launch

catkin_make

source ./devel/setup.bash
roslaunch lego_loam run.launch

运行launch的经验

1）包名不管是大写和小写，运行是都是小写

2）包名中的“-” 和“_” 的区别，尽量运行 “_”

4.下载数据包和运行

这里我使用的是LeGo-LOAM的数据包

数据包链接 

运行

rosbag play --clock ***.bag

5.效果图