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laboshinl / loam_velodyne

Laser Odometry and Mapping (Loam) is a realtime method for state estimation and mapping using a 3D lidar.
http://wiki.ros.org/loam_velodyne
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Run with a new sensor #85

Open TifferPelode opened 6 years ago

TifferPelode commented 6 years ago

Hi, I'm a freshman of 3D SLAM, now I only have a RS-LiDAR-16. It publish pointcloud2 message in ROS.

I wonder which part of code can modify to satisfied this sensor?

Tbyo commented 5 years ago

Hi, friends, I also have the same question when I use a Hesai-Pandar40P Lidar, I modified the N-SCAN, include the point_types.h and rawdata.h in Hesai-Ros driver. However, the error is as follows:

(rviz:14946): Gtk-WARNING *: Unable to locate theme engine in module_path: "hcengine", [multiScanRegistration-2] process has died [pid 14928, exit code -11, cmd /home/user/catkin_v/devel/lib/loam_velodyne/multiScanRegistration /multi_scan_points:=/velodyne_points name:=multiScanRegistration log:=/home/user/.ros/log/664272ca-ba43-11e8-b0c0-ac1f6b8469dd/multiScanRegistration-2.log]. log file: /home/user/.ros/log/664272ca-ba43-11e8-b0c0-ac1f6b8469dd/multiScanRegistration-2.log

Does anyone know how to run with a new sensor? Thanks

jianrui1 commented 5 years ago

@Tbyo Have you saved this problem? I also want to use Hesai-Pandar40P Lidar.Can you share some erperience to me. Thank you very much.