3D Mapping packages for Velodyne VLP-16 Lidars
Hi, I have to create a 3D map using the point clouds from Velodyne VLP-16 lidar. I found two packages namely, ethzasl_icp_mapper ( http://wiki.ros.org/ethzasl_icp_mapper ) and octomap ( http://wiki.ros.org/octomap ). Are there any other packages that support VLP-16 apart from these? The ethzasl_icp_mapper and the octomap ROS wiki do not describe the procedure to use the library in detail. I read some more posts in this forum regarding the use of the ethzasl library. But, none of them seem to talk about the steps to to be followed to get the map. Since, I'm new to ROS, I am finding it a bit difficult to understand. This is what I understood from the wiki;
1) After installing & compiling the mapping stack, I have to launch the VLP-16 launch file .
2) I have to publish the pointcloud2 messages from the lidar to /cloud_in node.
3) After registering the clouds, the package publishes the output map in /point_map node and the odometry in the /icp_odom node.
Here are some of the questions I have;
1) Where can I find the VLP-16 launch file?
2) Should I do the sensor to odom and then to map frame transformations manually?
3) How do I input odometry info? Can I create a map without odometry?
It would be really helpful if someone can describe the sequence of steps to be done to use this library.
