LIO-SAM安装及运行数据集记录

1、代码下载github链接https://github.com/TixiaoShan/LIO-SAM
2、安装依赖项

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

gtsam：

下载源文件安装https://github.com/borglab/gtsam/releases/tag/4.0.2

mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j8

3、编译LIO-SAM，编译报错，信息如下：

error: static assertion failed: Error: GTSAM was built against a different version of Eigen
static_assert(

error: static assertion failed: Error: GTSAM was built against a different version of Eigen
 static_assert(
 ^
In file included from /usr/local/include/gtsam/base/Matrix.h:26:0,
                 from /usr/local/include/gtsam/base/Manifold.h:22,
                 from /usr/local/include/gtsam/base/Lie.h:25,
                 from /usr/local/include/gtsam/base/VectorSpace.h:11,
                 from /usr/local/include/gtsam/geometry/Point2.h:20,
                 from /usr/local/include/gtsam/geometry/Unit3.h:23,
                 from /usr/local/include/gtsam/geometry/Rot3.h:25,
                 from /home/bruce/study/LIO_SAM_WS/src/LIO-SAM/src/mapOptmization.cpp:4:

查找资料发现这是因为ROS找到的Eigen版本与gtsam找到的版本不一致造成的，那么解决问题的办法就是使它们一致，即需要使/usr/local/include、/usr/include 这两个文件夹下的eigen版本一致。
直接操作：

sudo cp -r ...

把对应文件copy值另一个文件夹中。

重新安装gtsam，再次编译LIO-SAM，编译成功！

4、运行数据集casual_walk.bag

source devel/setup.bash
roslaunch lio_sam run.launch
rosbag play /home/bruce/dataset/casual_walk.bag -r 3

运行结果如下：