Running LeGo-LOAM using non-velodyne lidar data

Problem description: When using non-velodyne lidar data in LeGo-LOAM, mapping cannot be achieved in rviz.

Non-velodyne lidar: such as Sagitar Juchuang radar, CX Leishen 16/32 lidar, Hesai Technology 16/32/64 line lidar, etc.

Solution:

Because the original code uses Velodyne radar, the compatibility with domestic radars is not that good, so you need to simply modify the launch file. The reason is that Lego-loam can handle Nan points in VLP-16, but it does not handle Nan points in other brands of radar data formats very well. A filtering process needs to be added to the original run.launch file to filter out those Just leave it blank.
 

1. Modify the launch file in LeGo-LOAM

// 注意这一行重映射
 <remap from="~input" to="/filtered_points" />

The /filtered_points topic here is the /PointCloud2 format data published by your data package, which is the 3D point cloud data you need to record. You can use the command rosbag info to view the information of your bag.

 The following is the complete modified launch file, which needs to be modified according to your actual situation:

<launch>
    
    <!--- Sim Time -->
    <param name="/use_sim_time" value="true" />
    <node pkg="nodele