Revision history [back]

I know that the ethz_icp_mapper stack has a pipeline that works with the Velodyne.

You can find more information on the nodes here: http://www.ros.org/wiki/ethzasl_icp_mapper

If you look a bit deeper into the packages, there are some preconfigured launch files for Velodyne, I think that it would be a good place to start: https://github.com/ethz-asl/ethzasl_icp_mapping/tree/master/ethzasl_icp_mapper/launch/artor