ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

3D SLAM & Velodyne HDL-32E

asked 2013-06-11 14:46:17 -0500

xylo gravatar image

updated 2014-01-28 17:16:51 -0500

ngrennan gravatar image

Does anyone know if there's a good 3D SLAM package out there? We have a Velodyne HDL-32E. Thanks to @joq and others, the ROS driver works like a charm. But we haven't found a 3D SLAM package to use it for. Thanks!

edit retag flag offensive close merge delete


@xylo, could you share the results of your search for a 3D SLAM solution?

chukcha2 gravatar image chukcha2  ( 2016-03-03 09:54:31 -0500 )edit

3 Answers

Sort by » oldest newest most voted

answered 2013-06-12 02:59:33 -0500

mjcarroll gravatar image

I know that the ethz_icp_mapper stack has a pipeline that works with the Velodyne.

You can find more information on the nodes here:

If you look a bit deeper into the packages, there are some preconfigured launch files for Velodyne, I think that it would be a good place to start:

edit flag offensive delete link more



Thanks for the pointer. Unfortunately it doesn't do loop closure, which is essential for reducing the estimate error.

xylo gravatar image xylo  ( 2013-06-13 12:53:37 -0500 )edit

ethzasl_icp_mapper needs an odometry source right? says that sensor frame → /odom is a required tf Transform.

ChickenSoup gravatar image ChickenSoup  ( 2015-07-01 02:39:46 -0500 )edit

can I install ethz_icp_mapper in indigo?

Kailegh gravatar image Kailegh  ( 2016-04-28 09:24:56 -0500 )edit

I don't see any Indigo release of that package. You can try building it from source.

joq gravatar image joq  ( 2016-04-29 10:24:23 -0500 )edit

answered 2013-10-15 00:56:13 -0500

maverick01 gravatar image

I am trying to use velodyne_height_map for velodyne HDL-32E. Actually I am new to ROS and to the website also thatswhy posting my question here as the website says I nee dto increase my karma to post it on the website. I read this link( carefully but may not have understood it completely so here is what is did. 1. roslaunch velodyne_pointcloud 32e_points.launch calibration:=/home/user/32db.yaml (i.e. calling the velodyne point cloud which i think is subscriber and velodyne basic driver) 2. rosrun nodelet nodelet standalone velodyne_height_map/HeightMapNodelet (for using height based algo to get obstacles.) But, Its constantly showing this error ERROR: [ INFO] [1381872765.269655830]: height map parameters: 320x320, 0.5m cells, 0.25m threshold, not publishing full clouds

edit flag offensive delete link more


Please post this as a new question with tag "velodyne". This is not a forum and "answers" are not the place to ask new questions.

joq gravatar image joq  ( 2013-10-15 08:14:08 -0500 )edit

but I am not able to post question error says "LOW KARMA"

maverick01 gravatar image maverick01  ( 2013-10-17 20:25:22 -0500 )edit

If you can post an "answer", you should also be able to post a question. Please report it as a site bug.

joq gravatar image joq  ( 2013-10-18 05:06:46 -0500 )edit

answered 2017-08-17 04:29:21 -0500

vkee gravatar image

Try Google Cartographer( or SegMatch SLAM ( ).

edit flag offensive delete link more

Question Tools



Asked: 2013-06-11 14:46:17 -0500

Seen: 4,776 times

Last updated: Aug 17 '17