复现FAST_LIVO2【Ubuntu 20.04.6 LTS】

准备

1 Ubuntu 和 ROS

依据开源介绍，Ubuntu 16.04~20.04。
复现版本为：Ubuntu 20.04.6 LTS，ROS noetic。
ROS安装可参考之前的一片博客: ROS安装含检测——鱼香ROS

2 其他库

2.1 PCL

依据开源介绍，PCL>=1.6。

2.2 Eigen

依据开源介绍，Eigen>=3.3.4。

2.3 OpenCV

依据开源介绍，OpenCV>=3.2。

3 Sophus

3.1 安装

git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build && cd build && cmake ..
make
sudo make install

3.2 make报错

修改Sophus/sophus/so2.cpp文件 修改为：

 SO2::SO2() 
{ 
   unit_complex_.real(1.); 
   unit_complex_.imag(0.); 
 }

重新cmake并执行后续命令，最终成功安装。

4 Vikit

Vikit contains camera models, some math 和 interpolation functions that we need. Vikit is a catkin project, therefore, download it into your catkin workspace source folder.[作者的说明]

# Different from the one used in fast-livo1
cd catkin_ws/src
git clone https://github.com/xuankuzcr/rpg_vikit.git 

5 livox_ros_driver

5.1 Livox-SDK

git clone https://github.com/Livox-SDK/Livox-SDK.git
cd Livox-SDK
cd build && cmake ..
make
sudo make install

5.2 livox_ros_driver

git clone https://github.com/Livox-SDK/livox_ros_driver.git ws_livox/src
cd ws_livox
catkin_make

FAST-LIVO2

在此之前首先把livox_ros_driver添加到source[注意位置]：

source ./devel/setup.sh

cd ~/catkin_ws/src
git clone https://github.com/hku-mars/FAST-LIVO2
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

运行

roslaunch fast_livo mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag
#改变速度
rosbag play -r YOUR_DOWNLOADED.bag

参考

[1]: FAST-LIVO2 : https://github.com/hku-mars/FAST-LIVO2
[2]: 「 Linux调试错误 」Sophus/sophus/so2.cpp:33:26:error: lvalue required as left operand of assignment: https://blog.csdn.net/Robot_Starscream/article/details/88132050