1.LOAM安装

1.安装的代码https://github.com/HKUST-Aerial-Robotics/A-LOAM

https://github.com/cuitaixiang/LOAM_NOTED

安装环境：ubuntu 16.04 amd64

1.1 Ubuntu 64bit 16.04 or 18.04 ROS Kinetic or Melodic. ROS Installation

1.2 Ceres Solver

Follow Ceres Installation。选择源码安装

1.3 PCL

https://www.cnblogs.com/gary-guo/protected/p/6565997.html

2.编译 A-LOAM

 cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3.Velodyne VLP-16 Example

Download NSH indoor outdoor to YOUR_DATASET_FOLDER.

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
    rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag