操作系统ubuntu14.04，安装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
配置环境
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
source ~/.bashrc
安装rosinstall
sudo apt-get install python-rosinstall
环境配置完毕，新建一个workspace
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
运行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
运行
roslaunch loam_velodyne loam_velodyne.launch
然后另起一个终端运行
rosbag play ~/velodyne.bag
#or
roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/phd/velodyne.pcap"
转自http://blog.csdn.net/littlethunder/article/details/51920212
