LIO-SAM配置运行

版本：Ubuntu16.04+kinetic

Dependency

• ROS

  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

  wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
  cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
  cd ~/Downloads/gtsam-4.0.2/
  mkdir build && cd build
  cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
  sudo make install -j8
  

 

Install

Use the following commands to download and compile the package.

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

安装完成后需要进行