How to run LOAM from .pcap file?

asked 2019-12-10 10:42:33 -0600

Suchet4620 gravatar image

updated 2019-12-11 02:55:14 -0600

Hello, everyone, I am a new beginner to ROS and this is my first post here. All I was doing right now is to try to learn LiDAR-SLAM and how can I extract trajectory from 3D LiDAR (VLP-16) using LOAM, I followed many tutorials step-by-step from ROS installation, compiling velodyne driver, building system with catkin (loam_velodyne) and "running LOAM from .bag and .pcap file"

  • Versions of packages: I am using rosdistro: kinetic, rosversion: 1.12.14

  • My platform: I am running Ubuntu 16.04 (on an x64) subsystem on Windows 10, and Xming apps used to open RVIZ

  • Errors occurs when I run LOAM with .pcap file:

*Third terminal tap:

  • ssr@DESKTOP-S6IGE64:~$ cd ~/catkin_ws
  • ssr@DESKTOP-S6IGE64:~/catkin_ws$ source ~/catkin_ws/devel/setup.bash
  • ssr@DESKTOP-S6IGE64:~/catkin_ws$ export DISPLAY=:0
  • ssr@DESKTOP-S6IGE64:~/catkin_ws$ roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/ssr/catkin_ws/velodyne.pcap"

... logging to /home/ssr/.ros/log/e1dbd56c-1b2b-11ea-a2df-78acc0a0b55d/roslaunch-DESKTOP-S6IGE64-11508.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://DESKTOP-S6IGE64:13657/

SUMMARY

PARAMETERS * /rosdistro: kinetic * /rosversion: 1.12.14 * /velodyne_nodelet_manager_cloud/calibration: /home/ssr/catkin_... * /velodyne_nodelet_manager_cloud/max_range: 130.0 * /velodyne_nodelet_manager_cloud/min_range: 0.4 * /velodyne_nodelet_manager_cloud/model: VLP16 * /velodyne_nodelet_manager_cloud/organize_cloud: False * /velodyne_nodelet_manager_driver/cut_angle: -0.01 * /velodyne_nodelet_manager_driver/device_ip: * /velodyne_nodelet_manager_driver/frame_id: velodyne * /velodyne_nodelet_manager_driver/gps_time: False * /velodyne_nodelet_manager_driver/model: VLP16 * /velodyne_nodelet_manager_driver/pcap: /home/ssr/catkin_... * /velodyne_nodelet_manager_driver/port: 2368 * /velodyne_nodelet_manager_driver/read_fast: False * /velodyne_nodelet_manager_driver/read_once: False * /velodyne_nodelet_manager_driver/repeat_delay: 0.0 * /velodyne_nodelet_manager_driver/rpm: 600.0 * /velodyne_nodelet_manager_driver/timestamp_first_packet: False * /velodyne_nodelet_manager_laserscan/resolution: 0.007 * /velodyne_nodelet_manager_laserscan/ring: -1

NODES / velodyne_nodelet_manager (nodelet/nodelet) velodyne_nodelet_manager_cloud (nodelet/nodelet) velodyne_nodelet_manager_driver (nodelet/nodelet) velodyne_nodelet_manager_laserscan (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[velodyne_nodelet_manager-1]: started with pid [11525] process[velodyne_nodelet_manager_driver-2]: started with pid [11526] process[velodyne_nodelet_manager_cloud-3]: started with pid [11527] process[velodyne_nodelet_manager_laserscan-4]: started with pid [11528] 0.000 2.304 4.608 6.912 9.216 11.520 13.824 16.128 18.432 20.736 23.040 25.344 27.648 29.952 32.256 34.560 55.296 57.600 59.904 62.208 64.512 66.816 69.120 71.424 73.728 76.032 78.336 80.640 82.944 85.248 87.552 89.856 110.592 112.896 115.200 117.504 119.808 122.112 124.416 126.720 129.024 131.328 133.632 135.936 138.240 140.544 142.848 145.152 165.888 168.192 170.496 172.800 175.104 177.408 179.712 182.016 184.320 186.624 188.928 191.232 193.536 195.840 198.144 200.448 221.184 223.488 225.792 228.096 230.400 232.704 235.008 237.312 239.616 241.920 244.224 246.528 248.832 251.136 253.440 255.744 276.480 278.784 281.088 283.392 285.696 288.000 290.304 292.608 294.912 297.216 299.520 301.824 304.128 306.432 308.736 311.040 331.776 334.080 336.384 338.688 340.992 343.296 345.600 ... (more)

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