Ubuntu20.04运行A-LOAM

Ubuntu20.04运行A-LOAM

第一步：安装ROS

1）更换软件源
2）sudo sh -c ‘echo “deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main” > /etc/apt/sources.list.d/ros-latest.list’
3）sudo apt-key adv --keyserver ‘hkp://keyserver.ubuntu.com:80’ --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
4）sudo apt update
5）sudo apt install ros-noetic-desktop-full
6）rosdep update
7）sudo rosdep init
8） source /opt/ros/noetic/setup.bash
9）echo “source /opt/ros/noetic/setup.bash” >> ~/.bashrc
10）source ~/.bashrc

第二步：安装Ceres

sudo apt-get install cmake
sudo apt-get install libgoogle-glog-dev libgflags-dev
sudo apt-get install libatlas-base-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libsuitesparse-dev
下载ceres :http://ceres-solver.org/ceres-solver-2.0.0.tar.gz
tar zxf ceres-solver-2.0.0.tar.gz
cd ceres-solver-2.0.0
mkdir ceres-bin
cd ceres-bin
cmake …/ceres-solver-2.0.0
make -j3
make test
sudo make install

第三步：安装PCL1.9.1

sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common
sudo apt-get install libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1p-qt libvtk7.1p libvtk7-qt-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre
如果哪个库安装不了，可能是版本更新了
可以使用 “sudo apt-cache search（库名）” 命令查找该包最新信息
对该库的版本等信息进行更改安装
下载PCL1.9.1：https://github.com/PointCloudLibrary/pcl/releases/tag/pcl-1.9.1
cd pcl
mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \ -DBUILD_GPU=ON-DBUILD_apps=ON -DBUILD_examples=ON \ -DCMAKE_INSTALL_PREFIX=/usr …
make
sudo make install

第四步：

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
（下载A-LOAM https://github.com/HKUST-Aerial-Robotics/A-LOAM)
将四个.cpp文件中的/camera_init修改为camera_init
将scanRegistration.cpp中的 #include <opencv/cv.h> 修改为#include <opencv2/imgproc.hpp>
修改kittiHelper.cpp中 CV_LOAD_IMAGE_GRAYSCALE为 cv::IMREAD_GRAYSCALE
打开catkin_ws->src->a-loam->CMakeLists.txt中添加set( CMAKE_CXX_STANDARD 14)

cd ~/catkin_ws/
catkin_make

运行

下载nsh_indooroutdoor.bag 测试数据到dataset文件夹中，然后在launch文件中打开终端运行如下：
source ~/catkin_ws/devel/setup.bash
roslaunch aloam_velodyne_VLP_16.launch
再在dataset文件夹下打开终端：
rosbag play nsh_indoor_outdoor.bag

关注

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