Interfacing to ROS nav stack (Question)

hku-mars / loam_livox

A robust LiDAR Odometry and Mapping (LOAM) package for Livox-LiDAR

GNU General Public License v2.0

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Interfacing to ROS nav stack (Question) #11

Closed griz1112 closed 5 years ago

griz1112 commented 5 years ago

Trying to start up ROS navigation stack with output from loam-livox. Not having much luck. Is there a document that explains the topics published by loam-livox? Can you point me to resources explaining how to do this?

ziv-lin commented 5 years ago

Hi~, Sorry for replying your message/issue/question so late. For getting the point cloud, you can subscribe to the rostopic "/velodyne_cloud_registered". For odometry, you can subscribe to the rostopic "/aft_mapped_to_init".

griz1112 commented 5 years ago

I have it working now. Using velodyne_cloud_registered as point cloud input to octomap_server its producing 2-d occupancy maps now. Adding in pointcloud_to_laserscan for a flat laser scan amcl has all it needs to kick off the nav stack.