fastlio2的编译比较简单,基本不需要改什么
一、基础环境
Ubuntu20.04
ROS noetic
PCL 1.8
Eigen 3.3.4
livox_ros_driver
二、安装编译
1.拷贝代码
git clone https://github.com/hku-mars/FAST_LIO.git fastlio2/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git fastlio2/src
2. 编译
cd fastlio2/src
catkin_make
source devel/setup.bash
三、运行测试
下载作者提供的包
https://drive.google.com/drive/folders/1CGYEJ9-wWjr8INyan6q1BZz_5VtGB-fP
rosbag play hku.bag
source devel/setup.bash
roslaunch fast_lio mapping_avia.launch