3D激光SLAM－－LOAM编译与运行

注意本文的安装日期 2018/10/08，如果距离该时间较远，仅作为参考．
前提：安装好必要的依赖库，功能包．

编译:
$ cd /LOAM/catkin_ws/src
$ git clone https://github.com/laboshinl/loam_velodyne.git
　在catkin_make工作目录下编译
$ catkin_make -DCMAKE_BUILD_TYPE=Release
编译出错：
LaserMapping.cpp:149:28: error: ‘downSizeFilterMap’ was not declared in this scope
Invoking “make -j4 -l4” failed

解决方案：
打开 loam_velodyne/src/lib/LaserMapping.cpp 删除142～154行代码 就是下面这坨
　if (privateNode.getParam(“mapFilterSize”, fParam))
　 {
　}
重新编译 catkin_make- DCMAKE_BUILD_TYPE=Release ，成功．
$ gedit ~/.bashrc
在最下面一行添加 source ~/LOAM/catkin_ws/devel/setup.bash
$ source ~/.bashrc
为确保环境变量生效，检查命令
$ echo $ROS_PACKAGE_PATH

运行:
第一个终端
$ source ~/.bashrc
$ roslaunch loam_velodyne loam_velodyne.launch
第二个终端
数据包地址 http://www.frc.ri.cmu.edu/~jizhang03/Datasets/nsh_indoor_outdoor.bag
$ rosbag play ~/Downloads/nsh_indoor_outdoor.bag

效果图：