ros环境搭建
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
下载loam编译
cd ~/catkin_ws/src
git clone https://github.com/laboshinl/loam_velodyne.git
cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release
source ~/catkin_ws/devel/setup.bash
运行
roslaunch loam_velodyne loam_velodyne.launch
rosbag play 文件名.bag
保存地图
选择右侧最上面Global Options列表下的Fixed Frame选择Laser _odom
选择pointClouds列表下的Topic选择laser_cloud_surround
打开另一个窗口 rosbag record -o out /laser_cloud_surround 录制
若太大则加上 rosbag record -o out /laser_cloud -b 40960 注：laser_cloud是因为surround会消失新建的话题 等同于laser_cloud_surround只是不会消失
ctrl+C结束录制生成out_（时间）.bag
转PCD
rosrun pcl_ros bag_to_pcd out_（时间）.bag /laser_cloud_surround pcd
查看
cd pcd
pcl_viewer （文件名）如：1566443218.880078077.pcd
pcl_convert_pcd_ascii_binary <file_in.pcd> <file_out.pcd> 0/1/2 (ascii/binary/binary_compressed) 转换文件名