BLAM With Grid Map

BLAM! is an open-source software package for LiDAR-based real-time 3D localization and mapping. BLAM! is developed by Erik Nelson from the Berkeley AI Research Laboratory (BAIR). See https://youtu.be/08GTGfNneCI for a video example.

介绍

这是由BLAM修改而成的可以试试转点云为栅格地图的BLAM PRO。便于路径规划和导航

编译

使用下面的命令编译安装

catkin_make -DCMAKE_BUILD_TYPE=Release

运行

正常的BLAM

在线模式，使用另一个终端播放bag或者链接激光雷达

roslaunch blam_example test_online.launch

离线模式

roslaunch blam_example test_offline.launch

转栅格地图

使用滤波器滤除地面后在建立点云地图在转栅格地图

roslaunch blam_example cloud2map_filter_octomap.launch

使用直通滤波器去除点云后在转栅格地图

roslaunch blam_example cloud2map_passthrough_octomap.launch