Low-Latency Odometry for Spinning Lidars

Sample data at https://www.dropbox.com/s/v4cth3z7hrqjsvf/raw-perch-loop-2021-09-06-17-22-06.bag?dl=0

Clone https://github.com/versatran01/ouster_decoder

Open rviz using the config in launch/llol.rviz

First run ouster driver

roslaunch ouster_decoder driver.launch

Then run ouster decoder

roslaunch ouster_decoder decoder.launch

Then run odom

roslaunch llol llol.launch

Run bag.

See CMakeLists.txt for dependencies.