操作系統ubuntu14.04，安裝ROS Indigo

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

sudo apt-get install ros-indigo-desktop-full

初始化rosdep

sudo rosdep init

rosdep update

配置環境

echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc

source ~/.bashrc

安裝rosinstall

sudo apt-get install python-rosinstall

環境配置完畢，新建一個workspace

mkdir -p ~/catkin_ws/src

cd ~/catkin_ws/src

catkin_init_workspace

運行LOAM SLAM算法

cd ~/catkin_ws/src

git clone https://github.com/laboshinl/loam_velodyne.git

cd ~/catkin_ws

catkin_make -DCMAKE_BUILD_TYPE=Release

source ~/catkin/devel/setup.bash

運行

roslaunch loam_velodyne loam_velodyne.launch

然后另起一個終端運行

rosbag play ~/velodyne.bag

#or

roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/phd/velodyne.pcap"

轉自http://blog.csdn.net/littlethunder/article/details/51920212