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Laser 3D map

Hi, I am going to use a Velodyne VLP-16 to create a 3D map. It is going to go on a moving "robot/car" so it will likely have the wheel odometry. The algorithm does not need to run in real time. Currently I get to publish the PointCloud2 from the device. I need to create a 3D map by combining these pointclouds. I use ROS Indigo, could ypu give me some advice about what package could I use? loam seemed pretty good but it has been removed from public access, I got to use a old version but it sometimes loses the odometry. I would like to know the process of what I have to do to create a 3D map from different pointclouds; and what packages should I use. I have seen things like octomap, but I am not sure if that is what I need.

Thanks a lot!!

Laser 3D map

  • Hi, I am going to use a Velodyne Velodyne VLP-16 to create a 3D map. It is is going to go on a moving "robot/car" "robot/car" so it will likely have the wheel wheel odometry. The algorithm does not need need to run in real time. time.
  • Currently I get to publish the the PointCloud2 from the device. I need need to create a 3D map by combining these these pointclouds. I use ROS Indigo, could could ypu give me some advice about what what package could I use? loam seemed seemed pretty good but it has been removed removed from public access, I got to use a a old version but it sometimes loses loses the odometry. odometry.
  • I would like to know the process of of what I have to do to create a 3D map map from different pointclouds; and what what packages should I use. I have seen seen things like octomap, but I am not not sure if that is what I need.

Thanks a lot!!