Preprocessing, coordinate frame calibration, configuration files, and launching procedure used to generate point clouds with Google Cartographer for the RadMAP acquisition system. The RadMAP acquisition system consists of two LIDARS, differential GPS, two Ladybug 360 cameras, and an IMU.
The radmap_point_clouds packages does the following:
converts velodyne_msgs/VelodyneScan --> sensor_msgs/PointCloud2
merges {sensor_msgs/PointCloud2,sensor_msgs/Imu,sensor_msgs/NavSatFix}
Aligns 2 velodynes in SE3 (rotation and translation)
Provides {.lua,.launch,.urdf} configuration files for cartographer
Notes:
See installation.txt for step by step guide to build this package
The bagfile names are assumed to be {port,starboard,imu}.bag with the appropriate topic names {/novatel_fix,/novatel_imu,/velodyne_packets_port, /velodyne_packets_starboard}
Requirements:
Recommendations (add to .bashrc):
source /home/[user]/radmap/internal/devel/setup.bash
export RADMAP="/home/[user]/radmap/internal/src/radmap_point_clouds"
export RADBAGS="/home/[user]/radmap/internal/src/radmap_point_clouds/bagfiles"