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Does anyone know if there's a good 3D SLAM package out there? We have a Velodyne HDL-32E. Thanks to @joq and others, the ROS driver works like a charm. But we haven't found a 3D SLAM package to use it for. Thanks!


Originally posted by xylo on ROS Answers with karma: 184 on 2013-06-11

Post score: 2


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Comment by chukcha2 on 2016-03-03:
@xylo, could you share the results of your search for a 3D SLAM solution?

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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


Originally posted by mjcarroll with karma: 6414 on 2013-06-12

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by xylo on 2013-06-13:
Thanks for the pointer. Unfortunately it doesn't do loop closure, which is essential for reducing the estimate error.

Comment by ChickenSoup on 2015-07-01:
ethzasl_icp_mapper needs an odometry source right? http://wiki.ros.org/ethzasl_icp_mapper says that sensor frame → /odom is a required tf Transform.

Comment by Kailegh on 2016-04-28:
can I install ethz_icp_mapper in indigo?

Comment by joq on 2016-04-29:
I don't see any Indigo release of that package. You can try building it from source.

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