This is a ROS package for 3D lidar recognition and segmentation of ground, such as velodyne (VLP16) and robosense(16 channels) sensor.

You need clone the code.

$ mkdir -p catkin_ws/src
$ cd catkin_ws
$ catkin_make
$ cd src
$ git clone https://github.com/walterchenchn/plane_fit_ground_filter.git
$ cd catkin_ws
$ catkin_make

When you application this package, you need to modify the "plane_ground_filter.launch", like sensor_height and so on.

$ source devel/setup.bash
$ roslaunch plane_ground_filter plane_ground_filter.launch

In a new terminal.

$ rviz

After you need set the frame to velodyne, and add two topic filtered_points_no_ground and filtered_points_ground.