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Hi everyone, I would like to create a dedicated device to create and save a 3D map. I have seen that to stock this map, an octomap would be needed.

The best method I have seen on ROS is loam_continous but it has been remove for commercial purposes.

What tools do you recommand ? I got an IMU and laser(s).


Originally posted by TomSon on ROS Answers with karma: 109 on 2015-08-17

Post score: 0

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I guess there are still some forks out there, it was under BSD license so I guess you can still use the code. (Might anyone correct me if I am wrong with that license thing... )

I am also not sure if there is anything you need more than the code itself, somehow the description says that you need some additional files: https://github.com/dimatura/loam_continuous

For RGBD Cameras there is rtabmap: http://wiki.ros.org/rtabmap, I do not know if this is any use for you, but maybe somehow together with this: http://wiki.ros.org/laser_assembler


Originally posted by cyborg-x1 with karma: 1376 on 2015-08-18

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by TomSon on 2015-09-02:
Thanks I will check on that

Comment by ARCHANA on 2016-02-01:
Hi TomSon can you please tell me how to build 3d map with hokuyo utm 30-lx using loam_continuous. I downloaded the code and when i use it with data sets provided then in rviz i can view pointclouds spinning. But instead of running bagfile when i connect my sensor then nothing comes up. thanks

Comment by TomSon on 2016-02-02:
You are at the same step I were. Dont forget you need a servo to do back and forward mouvement with your hokuyo. I got also a pointcloud spinning without a correct phasing.

Comment by ARCHANA on 2016-02-02:
can you suggest me which servo i have to use?

Comment by TomSon on 2016-02-02:
If I had to do it again, one of dynamixel pro would be interested for the total weight to rotate.

Comment by ARCHANA on 2016-02-02:
Can you please tell me specifically which dynamixel i have to purchase? And please guide me step by step how to interface ros, laser and dynamixel with each other.

Comment by TomSon on 2016-02-02:
I dont know specifically, it depends of the wieght of your system. I can't guide you trough the steps because I didn't test it myself first. I just test with the bag like you.

Comment by ARCHANA on 2016-02-02:
That's ok but i want to ask you one thing. In the programs of loam package why the subscriber and advertisers are name as camera, cam_to_init, and so on. Are they predefined for aparticular sensor?

Comment by TomSon on 2016-02-03:
I dont think so.

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