前言
小白离线运行Lego-LOAM
提示:以下是本篇文章正文内容,下面案例可供参考
一、安装gtsam
安装依赖项
sudo apt-get install libboost-all-dev
sudo apt-get install cmake
下载安装gtsam
cd ~
git clone https://bitbucket.org/gtborg/gtsam.git
cd ~/gtsam
mkdir build
cd build
cmake ..
make check
sudo make install
修改cmake文件
sudo gedit /usr/local/lib/cmake/GTSAM/GTSAMConfig.cmake
将第17行修改为
二、编译运行Lego-LOAM
1.下载编译
cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1
2.运行Lego-LOAM
ctrl+alt+T
cd ~/catkin_ws
source ./devel/setup.bash
roslaunch lego_loam run.launch
ctrl+alt+T
cd ~/catkin_ws
rosbag play --clock nsh_indoor_outdoor.bag
总结
done