lego-loam安装编译

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1.lego-loam的安装编译——踩坑->填坑

1.1 lego-loam编译

** 踩坑：clouds-msgs 找不到**

// lego-loam的安装编译
https://blog.csdn.net/qq_36396941/article/details/83513121
// lego-loam 编译找不到clouds-msgs
https://blog.csdn.net/weixin_42194536/article/details/107100229
// catkin_make 只编译工作空间下一个功能包
https://blog.csdn.net/qq_25458977/article/details/103963286

单独编译legoloam

catkin_make -DCATKIN_WHITELIST_PACKAGES="lego_loam" -j1

1.2 lego-loam运行

roslaunch lego_loam run.launch
rosbag play *.bag --clock --topic /velodyne_points /imu/data

运行结果
该数据中仅仅采用激光雷达数据（nsh_indoor_outdoor.bag）