cyglidar_rosbag

cyglidar_rosbag is a ROS package built to see how CygLiDAR works on rviz.

This repository contains launch files and the octomap_mapping package to play the bag files.

Prerequisites

• Ubuntu 18.04
• ROS Melodic

Download

First, copy both hector_mapping and octomap_mapping packages to your catkin workspace as follows:

$ git clone https://github.com/tu-darmstadt-ros-pkg/hector_slam.git -b melodic-devel

$ git clone https://github.com/ros/ros_comm.git -b melodic-devel

Then, download ROSBAG sample data from the following page:

https://drive.google.com/file/d/1dN4ll4EzpHoalbpheoFlR-CizD0ZT2RK/view?usp=sharing

The bag file should be moved into src/cyglidar_bag/cyglidar_rosbag/rosbag directory.

Run

Run slam packages with a launch file as below:

1. Terminal 1

$ roslaunch cyglidar_rosbag cyglidar_rosbag.launch

2. Terminal 2 Play the recorded ROSBAG file.

$ cd src/cyglidar_bag/cyglidar_rosbag/rosbag
$ rosbag play --clock 210303_cyglidar.bag