3D SLAM & Velodyne HDL-32E

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

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

ngrennan
1 ●1 ●1

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!

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

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

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

mjcarroll

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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: http://www.ros.org/wiki/ethzasl_icp_mapper

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: https://github.com/ethz-asl/ethzasl_icp_mapping/tree/master/ethzasl_icp_mapper/launch/artor

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

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

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

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

can I install ethz_icp_mapper in indigo?

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

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

maverick01
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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(http://wiki.ros.org/velodyne_height_map) 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