LVI-SAM安装测试

LVI-SAM安装测试

因此安装LVI-SAM-Easyused

https://github.com/Cc19245/LVI-SAM-Easyused

https://github.com/TixiaoShan/LVI-SAM

mkdir -p ~/catkin_ws/src 
cd ~/catkin_ws/src
git clone https://github.com/Cc19245/LVI-SAM-Easyused
git checkout new
cd ..
catkin_make

依赖和LVI-SAM相同，安装环境为Ubuntu 18.04 + ROS-melodic

这里注意ceres的版本，之前安装VINS-Fusion是ceres-2.1.0，此处是ceres-1.14.0

因此要卸载之前安装的ceres，再重新安装

sudo rm -r /usr/local/lib/cmake/Ceres
sudo rm -rf /usr/local/include/ceres /usr/local/lib/libceres.a

如果想使用未经修改的代码(原始LVI-SAM官方代码)，可以在CMakeLists.txt中修改定义并重新编译

################## 编译开关 compile switch##############
# -DIF_OFFICIAL=1: use origin official LVI-SAM code
# -DIF_OFFICIAL=0: use modified code of this repo
add_definitions(-DIF_OFFICIAL=0)

下载KITTI数据集并制作为rosbag

kitti2bag

wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0084/2011_09_26_drive_0084_sync.zip
wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_drive_0084/2011_09_26_drive_0084_extract.zip
wget https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_09_26_calib.zip
unzip 2011_09_26_drive_0084_sync.zip
unzip 2011_09_26_drive_0084_extract.zip
unzip 2011_09_26_calib.zip
python kitti2bag.py -t 2011_09_26 -r 0084 raw_synced .

或者直接下载制作好的bag包

kitti_2011_09_26_drive_0084_synced.bag

播放bag包并测试运行该框架

roslaunch lvi_sam KITTI.launch
rosbag play kitti_2011_09_26_drive_0084_synced.bag

效果如下