Laser 3D map
- Hi, I am going to use a Velodyne VLP-16 to create a 3D map. It is going to go on a moving "robot/car" so it will likely have the wheel odometry. The algorithm does not need to run in real time.
- Currently I get to publish the PointCloud2 from the device. I need to create a 3D map by combining these pointclouds. I use ROS Indigo, could ypu give me some advice about what package could I use? loam seemed pretty good but it has been removed from public access, I got to use a old version but it sometimes loses the odometry.
- I would like to know the process of what I have to do to create a 3D map from different pointclouds; and what packages should I use. I have seen things like octomap, but I am not sure if that is what I need.
Thanks a lot!!
Octomap seems popular and is worth trying. You may also want to sub-sample to an appropriately-sized voxelgrid or similar filter.
ok, would I have just to suscribe octomap to the velodyne pointCloud2 topic to do make de 3D map? or would I also have to provide a tf, odom, or something like that?
I asked a similar question here and the response was that you'll still need to provide transforms to octomap for it to combine (register) the point clouds to create a 3D map.
and what was your solution to provide the location? using an IMU?