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Hello, I'm a new user of ROS, Velodyne, etc. and I would like to know if there is a package/executable to apply SLAM to .pcap data acquired by Velodyne VLP-16 and then generate a point cloud? Is there someone here using this scanner to tell me what to do, where to search, etc.? Have someone implemented a code to apply SLAM to our .pcap data?
Thanks in advance,
Bruna.
I have only limited experience with doing SLAM using a Velodyne (or other point cloud sensor), but I have some observations and suggestions that may help:
The easiest way to do that is with rosbag record. Save the raw /velodyne_packets topic published by the velodyne_driver, along with the robot's odomentry (usually published in the /odom topic), the robot's coordinate transforms in /tf, and perhaps some IMU data.
The familiar ROS gmapping package requires your point cloud to be converted into a 2D laser scan message. That's not as silly as it may sound, if you are making a 2D map anyway. The ROS point cloud to laser scan package will handle that conversion for you, squashing points from a selected 3D region into a 2D sensor_msgs/LaserScan.
Asked: 2015-12-09 08:55:50 -0500
Seen: 5,028 times
Last updated: Jan 29 '16
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You could take a horizontal slice out of the data and format like a planar laser scan message and use the slam packages meant for those kinds of lidars. Another option is to get the data into the right format to put into a RGBD slam package (kinfu?)- not sure if those would like 360 degree data.
Hello, I'm a new user of the velodyne VLP16, and I search the same application. Are you find more information about the 3d reconstruction from pcap file?
Thank you for sharing any relevant information Pascal
Bruna, have you found a solution?
No, never found an answer.
how is this going? I have the same problem. 1.-Start a vlp16 with ROS 2.-Configure GPS and Velodyne 3.-Construct a 3D map