lio-sam编译、测试

目录

安装依赖

编译lio-sam

运行

遇到的坑

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安装依赖

我的ROS版本是melodic，所以需要安装以下几个功能包：

sudo apt-get install -y ros-melodic-navigation
sudo apt-get install -y ros-melodic-robot-localization
sudo apt-get install -y ros-melodic-robot-state-publisher 

然后安装GTSAM 4.0.2

可以参考https://github.com/borglab/gtsam的安装说明。

编译lio-sam

mkdir catkin_ws
cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make

运行

roslaunch lio_sam run.launch
rosbag play your-bag.bag 

遇到的坑

1.运行时报错，error while loading shared libraries: libmetis.so: cannot open shared object file

解决：sudo cp /usr/local/lib/libmetis.so /usr/lib/

2.安装ros-melodic-robot-localization功能包失败

解决：换源，建议换中科大的源，可参考：ROS Melodic 版本安装+将ROS的源设置为国内的源_dckwin的博客-CSDN博客

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'