LIO-SLAM测试编译_lio-slam编译-CSDN博客

下载

git clone https://github.com/tixiaoShan/LIO-SAM.git

依赖项

sudo apt-get install -y ros-kinetic-navigation  --allow-unauthenticated
sudo apt-get install -y ros-kinetic-robot-localization
sudo apt-get install -y ros-kinetic-robot-state-publisher

gstam（4.0.2 版本）下载

  git clone -b 4.0.2 https://github.com/borglab/gtsam.git

修改：CMakeLists.txt 使用系统版本的Eigen
并且要保证/usr/include/eigen3 与/usr/local/include/eigen3 版本一致否则编译通过时会运行报错

set(GTSAM_USE_SYSTEM_EIGEN ON)

在这里插入图片描述
编译
终端无法打出大写T的问题

mkdir build
cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
make
sudo make install

如果存在还是存在如下问题：

下载数据集
这篇文章链接
修改params.yaml(outdoor.bag为例，默认为casual_walk.bag不用修改)

rosbag info -y outdoor.bag

如下

path: outdoor.bag
version: 2.0
duration: 58.632152
start: 1574086536.184822
end: 1574086594.816974
size: 352061920
messages: 29898
indexed: True
compression: none
types:
    - type: sensor_msgs/Imu
      md5: 6a62c6daae103f4ff57a132d6f95cec2
    - type: sensor_msgs/PointCloud2
      md5: 1158d486dd51d683ce2f1be655c3c181
topics:
    - topic: /imu_correct
      type: sensor_msgs/Imu
      messages: 29316
    - topic: /points_raw
      type: sensor_msgs/PointCloud2
      messages: 582

修改

pointCloudTopic: "points_raw"  					# Point cloud data
imuTopic: "/imu_correct"                         # IMU data
  extrinsicRot: [1, 0, 0,
                  0, 1, 0,
                  0, 0,  1]
  extrinsicRPY: [ 1, 0, 0,
                0, 1 , 0,
                  0, 0, 1]

6.测试效果如下

roslaunch lio_sam run.launch 
rosbag play outdoor.bag

outdoor.bag 在这里插入图片描述