A-LOAM及禾赛LiDAR调试记录（上）

A-LOAM调试记录

环境配置

所需环境：

Ubuntu and ROS

Ceres Solver

PCL

Ubuntu and ROS

pass

Ceres Solver

主要用于求解优化问题

通过对测量获取的不十分可靠的数据和理想化的预测模型进行优化处理获取尽可能接近真实值的结果

1. 依赖安装

   # CMake
   sudo apt-get install cmake
   # google-glog + gflags
   sudo apt-get install libgoogle-glog-dev libgflags-dev
   # Use ATLAS for BLAS & LAPACK
   sudo apt-get install libatlas-base-dev
   # Eigen3
   sudo apt-get install libeigen3-dev
   # SuiteSparse (optional)
   sudo apt-get install libsuitesparse-dev
   
   

   git clone https://ceres-solver.googlesource.com/ceres-solver
   

2. build, test, and install Ceres

   tar zxf ceres-solver-2.1.0.tar.gz
   mkdir ceres-bin
   cd ceres-bin
   cmake ../ceres-solver-2.1.0
   make -j3
   make test
   # Optionally install Ceres, it can also be exported using CMake which
   # allows Ceres to be used without requiring installation, see the documentation
   # for the EXPORT_BUILD_DIR option for more information.
   sudo make install
   

3. 验证安装结果

   bin/simple_bundle_adjuster ../ceres-solver-2.1.0/data/problem-16-22106-pre.txt
   

PCL

$ sudo apt install libpcl-dev

Build A-LOAM

    cd ~/catkin_ws/src
    git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

问题记录

环境：

Ubuntu:20.01

gcc:9.4.0

1. #error PCL requires C++14 or above

   catkin_make报错

   解决方法：

   参考链接

   open the CMakeLists.txt at /catkin_ws/src/ti_mmwave_rospkg
   change the line add_definitions(-std=c++11) to add_definitions(-std=c++14)

2. 版本兼容问题?（或许

   • 将scanRegistration.cpp中的 #include <opencv/cv.h> 修改为#include <opencv2/imgproc.hpp>
   • 将kittiHelper.cpp中 CV_LOAD_IMAGE_GRAYSCALE修改为 cv::IMREAD_GRAYSCALE

NSH indoor outdoor 数据集

下载链接

    roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
    rosbag play {{YOUR_DATASET_FOLDER}}/nsh_indoor_outdoor.bag

运行结果：

禾赛32线LiDAR

调试

查看网卡信息

ifconfig

配置ip

sudo ifconfig {{gateway_name}} 192.168.1.100

测试连接

ping 192.168.1.201

配置launch文件(检查IP与端口)

vim .../xxx.launch

运行launch

roslaunch {{package_name}} xxx.launch

运行rviz可视化结果

roscore
rosrun rviz rviz

配置rviz

1. Fixed Frame //通过rostopic echo指令获得
2. 添加Topic：PointCloud2

常用指令

sudo wireshark

rostopic hz {{topic_name}}

rostopic echo {{topic_name}} --noarr