师弟反应镭神32线激光雷达（32C）录制的数据包不能跑lego loam，这里就总结一下。
首先lego loam默认的接受的topic name是velodyne_points，点云的frame_id是velodyne，镭神驱动发布的topic name为point_raw，frame_id为world这里需要写一个程序转一下：
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "sensor_msgs/PointCloud2.h"
#include <string> #include <sstream> /**
* This tutorial demonstrates simple sending of messages over the ROS system.
*/ static ros::Publisher g_scan_pub; static void main_topic_callback(const sensor_msgs::PointCloud2::ConstPtr& input)
{
sensor_msgs::PointCloud2 msg = *input;
msg.header.frame_id = "velodyne";
g_scan_pub.publish(msg);
} int main(int argc, char *argv[])
{
/**
* The ros::init() function needs to see argc and argv so that it can perform
* any ROS arguments and name remapping that were provided at the command line.
* For programmatic remappings you can use a different version of init() which takes
* remappings directly, but for most command-line programs, passing argc and argv is
* the easiest way to do it. The third argument to init() is the name of the node.
*
* You must call one of the versions of ros::init() before using any other
* part of the ROS system.
*/
ros::init(argc, argv, "trans_leishen_velodyne"); /**
* NodeHandle is the main access point to communications with the ROS system.
* The first NodeHandle constructed will fully initialize this node, and the last
* NodeHandle destructed will close down the node.
*/
ros::NodeHandle private_nh("~");
ros::NodeHandle n; /**
* The advertise() function is how you tell ROS that you want to
* publish on a given topic name. This invokes a call to the ROS
* master node, which keeps a registry of who is publishing and who
* is subscribing. After this advertise() call is made, the master
* node will notify anyone who is trying to subscribe to this topic name,
* and they will in turn negotiate a peer-to-peer connection with this
* node. advertise() returns a Publisher object which allows you to
* publish messages on that topic through a call to publish(). Once
* all copies of the returned Publisher object are destroyed, the topic
* will be automatically unadvertised.
*
* The second parameter to advertise() is the size of the message queue
* used for publishing messages. If messages are published more quickly
* than we can send them, the number here specifies how many messages to
* buffer up before throwing some away.
*/ std::string main_topic;
std::string scan_topic; if (!private_nh.getParam("main_topic", main_topic))
{
ROS_ERROR("can not get main_topic!");
exit();
} if (!private_nh.getParam("scan_topic", scan_topic))
{
ROS_ERROR("can not get scan_topic!");
exit();
} g_scan_pub = n.advertise<sensor_msgs::PointCloud2>(scan_topic, );
ros::Subscriber main_topic_sub = n.subscribe<sensor_msgs::PointCloud2>(main_topic, , main_topic_callback); /**
* A count of how many messages we have sent. This is used to create
* a unique string for each message.
*/
ros::spin(); return ;
}
在把我的launch文件(leishen_dispatcher.launch)也贴出来：
<launch>
<arg name="scan_topic_name" default="velodyne_points" />
<arg name="main_topic_name" default="point_raw" /> <node pkg="record_gnss_pc" name="trans_leishen_velodyne" type="trans_leishen_velodyne" output="screen">
<param name="scan_topic" value="$(arg scan_topic_name)" />
<param name="main_topic" value="$(arg main_topic_name)" />
</node>
</launch>
在将代码lego loam中的utility.h文件中添加的镭神32C的配置文件（激光雷达扫描频率分别为5Hz与10Hz）也贴一下：
// LeiShen-32C-5Hz
// extern const int N_SCAN = 32;
// extern const int Horizon_SCAN = 4000;
// extern const float ang_res_x = 360.0 / float(Horizon_SCAN);
// extern const float ang_res_y = 26 / float(N_SCAN-1);
// extern const float ang_bottom = 16.5;
// extern const int groundScanInd = 10; //地面的线扫条数 // LeiShen-32C-10Hz
extern const int N_SCAN = ;
extern const int Horizon_SCAN = ;
extern const float ang_res_x = 360.0 / float(Horizon_SCAN);
extern const float ang_res_y = 26.0 / float(N_SCAN-);
extern const float ang_bottom = 16.5;
extern const int groundScanInd = ; //地面的线扫条数
最后把imageProjection.cpp中159行的注释删除，程序部分调整完毕。
编译。
运行lego loam：
$ roslaunch lego_loam run.launch
运行上面的launch文件
$ roslaunch record_data leishen_dispatcher.launch
最后运行你的bag
$ rosbag play --clock -----.bag
不要忘记--clock
就可以开始了。