download lio-sam from:
https://github.com/TixiaoShan/LIO-SAM
git clone https://github.com/TixiaoShan/LIO-SAM
dependency:
ros1
sudo apt-get install -y ros-kinetic-navigation
sudo apt-get install -y ros-kinetic-robot-localization
sudo apt-get install -y ros-kinetic-robot-state-publisher
gtsam, for ubuntu20.04 , need gtsam version >= 4.0.3, download from:
https://github.com/borglab/gtsam/tree/4.0.3
git clone https://github.com/borglab/gtsam/tree/4.0.3
mkdir build
$ cd build
$ cmake ..
$ make check (optional, runs unit tests)
$ make install
sudo cp /usr/local/lib//libmetis-gtsam.so /usr/lib
caution:
在usr/local/include 中找不到 eigen3 ,因为它在 usr/include中,将其复制下
由于 20.04 自带的是OpenCV4,所以要对 LIO-SAM 代码做一点改动
在 utility.h 中的
#include<opencv/cv.h>1
改为
#include<opencv2/imgproc.hpp>1
about pcl 1.10
这里修改 lio-sam 的编译配置就行 ,打开 liosam的CMakeLists.txt:
将第5行的
set(CMAKE_CXX_FLAGS "-std=c++11")
改为
set(CMAKE_CXX_FLAGS "-std=c++14")
catkin_make -DCATKIN_WHITELIST_PACKAGES="lio_sam"
rospack profile
roslaunch lio_sam run.launch