lio-sam的安装和运行

今天重装,简单记录一下

 源码：

GitHub - TixiaoShan/LIO-SAM: LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and MappingLIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping - GitHub - TixiaoShan/LIO-SAM: LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mappinghttps://github.com/TixiaoShan/LIO-SAM

点击code，下载ZIP。 解压到/home/lb/desktop/catkin_ws/src

先安装gtsam4.0.2参考：gtsam-4.0.2的安装-CSDN博客

 然后在/home/lb/desktop/catkin_ws/目录下

catkin_make

 

 运行：

roslaunch lio_sam run.launch

报错：

RLException: [run.launch] is neither a launch file in package [lio_sam] nor is [lio_sam] a launch file name
The traceback for the exception was written to the log file

source devel/setup.bash

SOURCE一下就好了，忘记加载环境变量了，也可以写入bashrc，一劳永逸。

报错：

ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: robot_localization
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/lb/desktop/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
ERROR: cannot launch node of type [robot_localization/navsat_transform_node]: robot_localization
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/lb/desktop/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share

缺依赖（按版本号更改melodic,我是18.04，就是这个）：

sudo apt-get install ros-melodic-fake-localization
sudo apt-get install ros-melodic-robot-localization

然后运行：

roslaunch lio_sam run.launch

报错：

qt5ct: using qt5ct plugin

inotify_add_watch("/home/lb/.config/qt5ct") failed: "No such file or directory"

qt5ct: D-Bus global menu: no

 发现QT5出现了点问题，不影响运行，但是看着别扭，下面解决他

首先：

sudo apt install qt5ct -y

然后运行一下

qt5ct

/home/lb/.config/qt5ct文件就生成了

 然后sudo gedit  ~/.profile

export QT_LOGGING_RULES="qt5ct.debug=false"

加入这行话后：source ~/.profile

再次运行：

source devel/setup.bash
roslaunch lio_sam run.launch

官方BAG不需改配置文件：    https://pan.baidu.com/s/1-sAB_cNlYPqTjDuaFgz9pg 提取码：ejmuhttps://pan.baidu.com/s/1-sAB_cNlYPqTjDuaFgz9pg%5Cn%5Cn%E6%8F%90%E5%8F%96%E7%A0%81%EF%BC%9Aejmu

无报错了，修改/home/lb/desktop/catkin_ws/src/LIO-SAM-master/config下的params.yaml文件，即可运行BAG了