I have LIO-SAM working with Velodyne 16 on my fork.
I had to modify the way the "ring" parameter was updated as it was not available in the standard pcl message.
I have tested it on ros2 bags from the ICCV 2023 challenge by AirLab at CMU.
Please let me know if I should raise a PR for the change.
I also have work on Livox which can be merged in this PR (but is untested).
The change is only for VLP-16 as of now.
grischi
commented
1 year ago
I have LIO-SAM working with Velodyne 16 on my fork. I had to modify the way the "ring" parameter was updated as it was not available in the standard pcl message. I have tested it on ros2 bags from the ICCV 2023 challenge by AirLab at CMU.
Please let me know if I should raise a PR for the change. I also have work on Livox which can be merged in this PR (but is untested). The change is only for VLP-16 as of now.