配置参数解析与修改
在线建图与离线建图修改
/LeGO-LOAM/LeGO-LOAM/launch/run.launch
<launch>
<param name="/use_sim_time" value="true" />
# 在线建图为false，离线建图为true
rostopic名称修改：针对具体使用IMU话题名称
激光雷达参数修改：针对速腾聚创RoboSense RS-Helios 32线激光雷达
/LeGO-LOAM/LeGO-LOAM/include/utility.h
extern const string pointCloudTopic = "/velodyne_points";
extern const string imuTopic = "/mavros/imu/data";
extern const int N_SCAN = 32;
extern const int Horizon_SCAN = 1800;
extern const float ang_res_x = 0.2;
extern const float ang_res_y = 1.5;
extern const float ang_bottom = 55;
extern const int groundScanInd = 10;
https://www.robosense.cn/rslidar/RS-Helios
重新编译
cd ~/catkin_ws
catkin_make -j1
https://zhuanlan.zhihu.com/p/386449627
https://blog.csdn.net/weixin_44208916/article/details/106094490
Original: https://blog.csdn.net/Sangfno1/article/details/125678997
Author: cahrr
Title: 速腾聚创 RoboSense RS-Helios 32线激光雷达使用 LeGO-LOAM 算法建图
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