kaarta STENCIL 2 - Page 8

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Cleaning and merging .ply files: .............................................................................................. 96
Point cloud cleanup .................................................................................................................. 96
Merging Point clouds ................................................................................................................ 97
ICP Matching in CloudCompare .............................................................................................. 97
Chapter 7 ........................................................................................................................................ 102
FAQ .............................................................................................................................................. 102
Appendix I ...................................................................................................................................... 108
Customizing Velodyne Wiring .................................................................................................. 108
Wiring the Connector ................................................................................................................ 108
Appendix II ..................................................................................................................................... 110
Mounting Stencil 2 .................................................................................................................... 110
Appendix III .................................................................................................................................... 111
Parameter Definitions ............................................................................................................... 111
Typical parameters to set ..................................................................................................... 122
Appendix IV .................................................................................................................................... 124
Working with ROS ...................................................................................................................... 124
Mode switching commands .................................................................................................. 124
Start / Stop mapping using ROS commands ...................................................................... 124
Creating a reference map for localization .......................................................................... 124
Remote commands not supported ..................................................................................... 125
Coordinate transforms for localization ............................................................................... 125
Important localization topics ................................................................................................ 126
Reporting global position during localization ..................................................................... 126
Localizing based on current GNSS location ........................................................................ 126
Sensor Calibration ................................................................................................................. 128
Ethernet ................................................................................................................................... 128
Appendix V ..................................................................................................................................... 133
Replaying Stencil 2 Data ........................................................................................................... 133
Replaying Bag files in localization mode ............................................................................. 135