用鐳神32線激光雷達實現Ａ_LOAM LeGO_LOAM

１、驅動下載　　catkin_make編譯就行
２、新建lslidar網絡

點擊網絡，選擇編輯網絡

點擊add

點擊create

Gateway使用192.168.1.1或者爲空
對比上面進行編輯並保存(激光雷達必須斷電一下，才生效)（下次插上激光雷達網線時要選擇這個網絡）
3、修改參數

<launch>

  <node pkg="lslidar_c32_driver" type="lslidar_c32_driver_node" name="leishen_lslidar_c32_driver" output="screen" >
    <param name="frame_id" value="laser_link"/>
    <param name="device_ip" value="192.168.1.200"/>
    <param name="device_port" value="2368"/>
  </node>

  <node pkg="lslidar_c32_decoder" type="lslidar_c32_decoder_node" name="leishen_lslidar_c32_decoder" output="screen">
    <!-- <param name="child_frame_id" value="world"/>  -->
    <param name="child_frame_id" value="velodyne"/>
    <param name="point_num" value="2000"/>
    <param name="channel_num" value="0"/>
    <param name="angle_disable_min" value="0"/>
    <param name="angle_disable_max" value="0"/>
    <param name="min_range" value="0.15"/>
    <param name="max_range" value="500.0"/>
    <param name="frequency" value="10.0"/>
    <param name="publish_point_cloud" value="true"/>
    <param name="publish_channels" value="false"/>
    <remap from="lslidar_point_cloud" to="/velodyne_points" />   <!--point_raw-->
    
  </node>
  
  <!--node name="rviz" pkg="rviz" type="rviz" args="-d $(find lslidar_c32_decoder)/launch/lslidar_c32.rviz" output="screen"/-->

</launch>

第九行，world　改爲　velodyne（因爲ALOAM默認的velodyne）｜｜
point_raw　改爲　　velodyne_points
４、修改lslidar_c32_decoder.cpp時間戳

        double timestamp = point_time;
        //point_cloud->header.stamp = static_cast<uint64_t>(timestamp * 1e6);
        point_cloud->header.stamp = ros::Time::now().toSec() * 1e6; 

        if (scan.points.size() == 0) continue;
        size_t j;
        VPoint point;

運行鐳神32線激光雷達

roslaunch lslidar_c32_decoder lslidar_c32.launch 

運行Ａ_LOAM

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch

LeGO_LOAM修改 run.launch : 修改爲　　false

<!--- Sim Time -->　　                                    **如果是仿真(如：數據集)用true,用實際的激光雷達用false**
<param name="/use_sim_time" value="false" />

運行LeGO_LOAM

roslaunch lego_loam run.launch

---

錄數據集對比Ａ_LOAM LeGO_LOAM　　注意事項
１、錄數據集

rosbag record -a

2、使用數據集跑 (–clock 不能丟)

rosbag play *.bag --clock   

３、LeGO_LOAM運行時要區分是跑真的激光雷達還是數據集，在run.launch中要將true改爲false