lio-sam运行过程及遇到的问题

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使用lio-sam建图，以及遇到的问题

一、catkin_make出错/usr/bin/ld: 找不到 -lBoost::timer

/usr/bin/ld: 找不到 -lBoost::timer
collect2: error: ld returned 1 exit status
LIO-SAM_based_relocalization-master/CMakeFiles/lio_sam_imuPreintegration.dir/build.make:759: recipe for target '/home/robot/robot_ws/devel/lib/lio_sam/lio_sam_imuPreintegration' failed
make[2]: *** [/home/robot/robot_ws/devel/lib/lio_sam/lio_sam_imuPreintegration] Error 1
CMakeFiles/Makefile2:2991: recipe for target 'LIO-SAM_based_relocalization-master/CMakeFiles/lio_sam_imuPreintegration.dir/all' failed
make[1]: *** [LIO-SAM_based_relocalization-master/CMakeFiles/lio_sam_imuPreintegration.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....

解决方法：

打开lio-sam文件里的CMake.Lists文件，在第27行后添加：

find_package(Boost REQUIRED COMPONENTS timer)