树莓派Ubuntu22.04 安装ROS2 humble MID360

树梅派安装ROS2 humble MID360

主查考：https://blog.csdn.net/qq_29912325/article/details/130269367
辅助参考：https://github.com/Livox-SDK/livox_ros_driver2

查看官方简介
Livox-SDK 和 livox_ros_driver： Drivers for receiving LiDAR data and more, support Lidar Mid-40, Mid-70, Tele-15, Horizon, Avia.
Livox-SDK2 和 livox_ros_driver2： Drivers for receiving LiDAR data and controlling lidar, support Lidar HAP and Mid-360.

1. 编译Livox-SDK2
官方地址：https://github.com/Livox-SDK/Livox-SDK2

执行一下命令：

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd ./Livox-SDK2/
mkdir build
cd build
cmake .. && make
sudo make install

如上就安装完成了Livox-SDK2，会安装如下内容：

-- Installing: /usr/local/lib/liblivox_lidar_sdk_static.a

-- Installing: /usr/local/include/livox_lidar_def.h

-- Installing: /usr/local/include/livox_lidar_api.h

-- Installing: /usr/local/include/livox_lidar_cfg.h

-- Installing: /usr/local/lib/liblivox_lidar_sdk_shared.so

如需删除，执行如下命令：
sudo rm -rf /usr/local/lib/liblivox_lidar_sdk_*
sudo rm -rf /usr/local/include/livox_lidar_*

2.编译livox_ros_driver2
官方地址：https://github.com/Livox-SDK/livox_ros_driver2

2.1.克隆源代码
打开终端执行如下命令，会将源代码clone在/home/ws_livox/src/livox_ros_driver2目录下，这步创建了ROS2需要使用的工作空间。

git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2

cd   /src/livox_ros_driver2
注意目录权限
source /opt/ros/humble/setup.sh
可查看～./bashrc是否添加完成
./build.sh humble
修改对应的配置文件

source ../../install/setup.sh
ros2 launch livox_ros_driver2 [launch file]

测试运行
ros2 launch livox_ros_driver2 rviz_MID360_launch.py

3.编译FAST_LIO

git clone https://github.com/hku-mars/FAST_LIO.git
cd FAST_LIO
git submodule update --init
cd ../..

修改对应CMakelists.txt、package.xml、FAST_LIO/src/preprocess.h、FAST_LIO/src/preprocess.cpp、FAST_LIO/src/laserMapping.cpp中的livox_ros_driver，修改成livox_ros_driver2

catkin_make

source devel/setup.bash

测试运行

roslaunch fast_lio mapping_mid360.launch

问题一
By not providing "Findament_cmake.cmake" in CMAKE_MODULE_PATH this project
  has asked CMake to find a package configuration file provided by
  "ament_cmake", but CMake did not find one.
 
  Could not find a package configuration file provided by "ament_cmake" with
  any of the following names:
 
    ament_cmakeConfig.cmake
    ament_cmake-config.cmake
 
  Add the installation prefix of "ament_cmake" to CMAKE_PREFIX_PATH or set
  "ament_cmake_DIR" to a directory containing one of the above files.  If
  "ament_cmake" provides a separate development package or SDK, be sure it
  has been installed.
————————————————
我错误原因，个人目录权限不对 sudo chmod  777 -R  xxx

问题二
Package 'livox_ros_driver2' not found: "package 'livox_ros_driver2' not found, searching: ['/opt/ros/humble']"
————————————————
没有将source ../../install/setup.sh设置到～./bashrc

问题三

如果遇到类似的报错：what(): Could not load library dlopen error: liblivox_lidar_sdk_shared.so: cannot open shared object file: No such file or directory, at /tmp/binarydeb/ros-galactic-rcutils-4.0.4/src/shared_library.c:99，说明缺少Livox SDK2库，已安装但不可用，因为不在 LD_LIBRARY_PATH 环境变量中。所以将 /usr/local/lib 目录添加到变量.bashrc中：
————————————————
版权声明：本文为CSDN博主「ZARD帧心」的原创文章，遵循CC 4.0 BY-SA版权协议，转载请附上原文出处链接及本声明。
原文链接：https://blog.csdn.net/ZARDforever123/article/details/134219903

sudo gedit ~/.bashrc
# 添加：
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib

问题四

安装FAST_LIO 编译livox_ros_driver2出现下面，一直无法编译100%

make: *** [Makefile:141:all] 错误 2Invoking "make -j4 -l4" failed

 解决方法： 单独安装livox_ros_driver2编译，注册到.baserc中， 再使用官方教程中的FAST_LIO的catkin_make编译

cd ~/$A_ROS_DIR$/src
git clone https://github.com/hku-mars/FAST_LIO.git
cd FAST_LIO
git submodule update --init
cd ../..
catkin_make
source devel/setup.bash

 通过后可以启动livox_ros_driver2和FAST_LIO