试跑LOAM SLAM的算法
cd catkin_velodyne/src
git clone https://github.com/laboshinl/loam_velodyne.git
cd catkin_velodyne
catkin_make -DCMAKE_BUILD_TYPE=Release
source ~/catkin_velodyne/devel/setup.bashroslaunch loam_velodyne loam_velodyne.launch 然后在新的终端运行：
rosbag play ~/bagname.bag
#or
roslaunch velodyne_pointcloud VLP16_points.launch pcap:="/home/username/bagname.pcap" 在rosbagplay运行结束后，rviz中应有一个map，如没有，可以多试几次或检查节点：
rosrun rqt_graph rqt_graph
