SLAM入门到入土：在ubuntu 18上安装FAST-LIO

最新推荐文章于 2024-05-24 17:36:22 发布

加葱casso

最新推荐文章于 2024-05-24 17:36:22 发布

阅读量1.1k

点赞数 2

文章标签： ubuntu linux 运维

本文链接：https://blog.csdn.net/bingshuiyuyi/article/details/129036217

版权

文章只为方便安装FAST-LIO

1.依赖

Ubuntu and ROS

ROS >= Melodic. ROS Installation

PCL && Eigen

PCL >= 1.8

Eigen >= 3.3.4

ubuntu18的ros-melodic，系统预装的eigen版本为3.3.4，PCL版本为1.8.1.所以不需要额外安装。

2.livox_ros_drive

2.1 livox-SDK

#Cmake
sudo apt install cmake

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

2.2 livox_ros_driver

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

3. fast-lio

mkdir -p FAST_LIO_ws/src
cd FAST_LIO_ws/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

运行：

参考：GitHub - hku-mars/FAST_LIO: A computationally efficient and robust LiDAR-inertial odometry (LIO) packageA computationally efficient and robust LiDAR-inertial odometry (LIO) package - GitHub - hku-mars/FAST_LIO: A computationally efficient and robust LiDAR-inertial odometry (LIO) packagehttps://github.com/hku-mars/FAST_LIO