运行LIO-SAM

LIO-SAM运行官网数据集

1.安装LIO-SAM并下载数据集

首先根据github官网链接: https://github.com/TixiaoShan/LIO-SAM#prepare-lidar-data安装好LIO-SAM，并下载好官网提供的数据集

2.修改参数文件

运行前需要先修改param.yaml文件里的参数。修改如下：

lio_sam:

  # Topics
  pointCloudTopic: "points_raw"               # Point cloud data
  imuTopic: "imu_correct"
  odomTopic: "odometry/imu"                   # IMU pre-preintegration odometry, same frequency as IMU
  gpsTopic: "odometry/gpsz"                   # GPS odometry topic from navsat, see module_navsat.launch file

  # Frames
  lidarFrame: "base_link"
  baselinkFrame: "base_link"
  odometryFrame: "odom"
  mapFrame: "map"

  # GPS Settings
  useImuHeadingInitialization: false
  useGpsElevation: false                      # if GPS elevation is bad, set to "false"
  gpsCovThreshold: 2.0                        # m^2, threshold for using GPS data
  poseCovThreshold: 25.0                      # m^2, threshold for using GPS data
  
  # Export settings
  savePCD: true 
  savePCDDirectory: "/dataset/map"        # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation

  # Sensor Settings
  sensor: velodyne                            # lidar sensor type, either 'velodyne' or 'ouster'
  N_SCAN: 16                                  # number of lidar channel (i.e., 16, 32, 64, 128)
  Horizon_SCAN: 1800                          # lidar horizontal resolution (Velodyne:1800, Ouster:512,1024,2048)
  downsampleRate: 1                           # default: 1. Downsample your data if too many points. i.e., 16 = 64 / 4, 16 = 16 / 1
  lidarMinRange: 1.0                          # default: 1.0, minimum lidar range to be used
  lidarMaxRange: 1000.0                       # default: 1000.0, maximum lidar range to be used

  # IMU Settings
  imuAccNoise: 3.9939570888238808e-03
  imuGyrNoise: 1.5636343949698187e-03
  imuAccBiasN: 6.4356659353532566e-05
  imuGyrBiasN: 3.5640318696367613e-05
  imuGravity: 9.80511
  imuRPYWeight: 0.01

  # Extrinsics (lidar -> IMU)
  extrinsicTrans: [0.0, 0.0, 0.0]
  extrinsicRot: [1, 0, 0,
                 0, 1, 0,
                 0, 0, 1]
  extrinsicRPY: [1, 0, 0,
                 0, 1, 0,
                 0, 0, 1]

其中savePCD（保存地图的路径）需要自己设置。
如果还想使用自己的数据集来跑，详细的修改可以参考链接: https://zhuanlan.zhihu.com/p/171589473

3.运行

roslaunch lio_sam run.launch

rosbag play /home/cyx/dataset/outdoor.bag

outdoor数据集：
west数据集：

4.运行时遇到的问题

刚开始在IMU到雷达外参数那块没有设置对，导致运行的效果如下：