Awesome

3DLidar_curb_detection

1- download the rosbag for the VELODYNE 3D lidar click here

$ cd 
$ cp ~/Downloads/sample_moriyama_* .
$ tar zxfv sample_moriyama_150324.tar.gz

2- clone the repo into your workspace

$ cd 
$ cd catkin_ws/src/
$ git clone https://github.com/SohaibAl-emara/3D_Lidar_Curb_Detection.git

3- build the code

$ cd 
$ cd catkin_ws/
$ catkin_make

4- run rosmaster

$ roscore

5- in a different terminal, play the rosbag

$ cd 
$ rosbag play sample_moriyama_150324.bag 

6- in a different terminal, open rviz

$ rosrun rviz rviz -f velodyne

7- in a different terminal, run the curb detection node

$ rosrun curb_detec_cpp curb_detec

8- setup rviz to see the pointcloud2 data

this will show you the curbs detection only,

if you want to see the lidar data, do the same thing again add a new pointcloud2 data, the topic name is /points_raw keep the size of the points smaller and than the curb detection points, and make them different color. This way you can see the different between the point clouds easily.