lego-loam使用镭神激光数据

硬件设备：镭神c16

1、include/utility.h修改如下

extern const string pointCloudTopic = "/lslidar_point_cloud";
extern const string imuTopic = "/imu/data";

extern const bool useCloudRing = false; // if true, ang_res_y and ang_bottom are not used

extern const int N_SCAN = 16;
extern const int Horizon_SCAN = 2000;
extern const float ang_res_x = 0.18;
extern const float ang_res_y = 2.0;
extern const float ang_bottom = 15.0+0.1;
extern const int groundScanInd = 7;

2、修改imageproject.cpp，把cloudHeader.stamp = ros::Time::now();的注释去掉。

    void copyPointCloud(const sensor_msgs::PointCloud2ConstPtr& laserCloudMsg){

        cloudHeader = laserCloudMsg->header;
        // cloudHeader.stamp = ros::Time::now(); // Ouster lidar users may need to uncomment this line
        pcl::fromROSMsg(*laserCloudMsg, *laserCloudIn);
        // Remove Nan points
        std::vector<int> indices;
        pcl::removeNaNFromPointCloud(*laserCloudIn, *laserCloudIn, indices);
        // have "ring" channel in the cloud
        if (useCloudRing == true){
            pcl::fromROSMsg(*laserCloudMsg, *laserCloudInRing);
            if (laserCloudInRing->is_dense == false) {
                ROS_ERROR("Point cloud is not in dense format, please remove NaN points first!");
                ros::shutdown();
            }  
        }
    }

 3、修改run.launch

    <param name="/use_sim_time" value="true" />

 4、重新编译，然后可用。

参考资料：

https://blog.csdn.net/qq_39607707/article/details/123487250