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  • Hi, I am going to use a Velodyne VLP-16 to create a 3D map. It is going to go on a moving "robot/car" so it will likely have the wheel odometry. The algorithm does not need to run in real time.
  • Currently I get to publish the PointCloud2 from the device. I need to create a 3D map by combining these pointclouds. I use ROS Indigo, could ypu give me some advice about what package could I use? loam seemed pretty good but it has been removed from public access, I got to use a old version but it sometimes loses the odometry.
  • I would like to know the process of what I have to do to create a 3D map from different pointclouds; and what packages should I use. I have seen things like octomap, but I am not sure if that is what I need.

Thanks a lot!!


Originally posted by Kailegh on ROS Answers with karma: 146 on 2016-04-28

Post score: 1


Original comments

Comment by joq on 2016-04-29:
Octomap seems popular and is worth trying. You may also want to sub-sample to an appropriately-sized voxelgrid or similar filter.

Comment by Kailegh on 2016-05-03:
ok, would I have just to suscribe octomap to the velodyne pointCloud2 topic to do make de 3D map? or would I also have to provide a tf, odom, or something like that?

Comment by chukcha2 on 2016-06-08:
I asked a similar question here and the response was that you'll still need to provide transforms to octomap for it to combine (register) the point clouds to create a 3D map.

Comment by Kailegh on 2016-06-13:
and what was your solution to provide the location? using an IMU?

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I don't have any personal experience with octomap, but looking at the docs there appear to be several options:

You probably do want to provide appropriate transforms to the odom coordinate frame.

Perhaps someone more knowledgeable will provide additional suggestions.


Originally posted by joq with karma: 25443 on 2016-05-05

This answer was ACCEPTED on the original site

Post score: 1

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