1.环境
Ubuntu和ROS,Ceres库和PCL库
2.编译
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
编译过程中可能会出现ceres库不支持的问题,重装ceres库切换版本即可。具体的报错在文章。
3.运行
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag
运行结果