BLAM! is an open-source software package for LiDAR-based real-time 3D localization and mapping. BLAM! is developed by Erik Nelson from the Berkeley AI Research Laboratory (BAIR). See https://youtu.be/08GTGfNneCI for a video example.
这是由BLAM修改而成的可以试试转点云为栅格地图的BLAM PRO。便于路径规划和导航
使用下面的命令编译安装
catkin_make -DCMAKE_BUILD_TYPE=Release在线模式，使用另一个终端播放bag或者链接激光雷达
roslaunch blam_example test_online.launch离线模式
roslaunch blam_example test_offline.launch使用滤波器滤除地面后在建立点云地图在转栅格地图
roslaunch blam_example cloud2map_filter_octomap.launch使用直通滤波器去除点云后在转栅格地图
roslaunch blam_example cloud2map_passthrough_octomap.launch