lego-loam编译运行

 本文仅供解决运行问题，不做详细教程

运行环境：ubuntu20.04

gtasm4.0.0与ubuntu20.04不太兼容，改装gtasm4.1.1(按照下述代码就可，已更正)

1.按照文档中附的readme.md安装依赖（默认ROS已安装完毕，否则遵照LOAM教程）

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/refs/tags/4.1.1.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.1.1/
mkdir build && cd build
cmake ..
sudo make install

2.编译

替换lego-loam中的CMakeLists.txt文件为下：

cmake_minimum_required(VERSION 2.8.3)
project(lego_loam)

set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -lboost_system -DGTSAM_USE_SYSTEM_EIGEN=ON")

find_package(catkin REQUIRED COMPONENTS
  tf
  roscpp
  rospy
  cv_bridge
  image_transport

  pcl_ros
  pcl_conversions

  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  cloud_msgs
)

find_package(GTSAM REQUIRED QUIET)
find_package(PCL REQUIRED QUIET)
find_package(OpenCV REQUIRED QUIET)
find_package(Boost REQUIRED COMPONENTS system timer thread serialization chrono)
catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS cloud_msgs
  DEPENDS PCL
)

include_directories(
	include
	${catkin_INCLUDE_DIRS}
	${PCL_INCLUDE_DIRS}
	${OpenCV_INCLUDE_DIRS}
	${GTSAM_INCLUDE_DIR}
	${Boost_INCLUDE_DIRS}
)

link_directories(
	include
	${OpenCV_LIBRARY_DIRS}
	${PCL_LIBRARY_DIRS}
	${GTSAM_LIBRARY_DIRS}
	${Boost_LIBRARY_DIRS}
)

add_executable(imageProjection src/imageProjection.cpp)
add_dependencies(imageProjection ${catkin_EXPORTED_TARGETS} cloud_msgs_gencpp)
target_link_libraries(imageProjection ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${Boost_LIBRARIES})

add_executable(featureAssociation src/featureAssociation.cpp)
add_dependencies(featureAssociation ${catkin_EXPORTED_TARGETS} cloud_msgs_gencpp)
target_link_libraries(featureAssociation ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${Boost_LIBRARIES})

add_executable(mapOptmization src/mapOptmization.cpp)
target_link_libraries(mapOptmization ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${Boost_LIBRARIES} gtsam)

add_executable(transformFusion src/transformFusion.cpp)
target_link_libraries(transformFusion ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${OpenCV_LIBRARIES} ${Boost_LIBRARIES})

 3.继续按照lego-loam要求运行如下：

cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1