前面完成了LOAM的安装和运行,这里安装A-LOAM感觉方便了许多,十几分钟就完成了,这里总结一下安装步骤,基本和LOAM的安装一样,包括各指令,以及遇到的问题如何解决的。
https://blog.csdn.net/weixin_43846627/article/details/112003919
感谢以下博主文章提供的帮助:
1.拷贝A-LOAM文件
首先进入自己电脑配置的ROS包下,也就是catkin_ws/src,执行git指令:
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
然后回到catkin_ws文件下,开始进行安装:
catkin_make
此时提示cmake错误:
CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
This workspace contains non-catkin packages in it, and catkin cannot build
a non-homogeneous workspace without isolation. Try the
'catkin_make_isolated' command instead.
Call Stack (most recent call first):
CMakeLists.txt:69 (catkin_workspace)
按照提示,执行catkin_make_isolated此时编译生成的可执行文件,在devel_isolated文件内。
2.将devel_isolated/aloam_velodyne/lib内的可执行文件,拷贝到catkin_ws/src/A-LOAM/src中
如果不执行2,直接运行会提示:
ERROR: cannot launch node of type [aloam_velodyne/ascanRegistration]: can't locate node [ascanRegistration] in package [aloam_velodyne]
ERROR: cannot launch node of type [aloam_velodyne/alaserOdometry]: can't locate node [alaserOdometry] in package [aloam_velodyne]
ERROR: cannot launch node of type [aloam_velodyne/alaserMapping]: can't locate node [alaserMapping] in package [aloam_velodyne]
3.运行bag包(两种方式都可以,我的bag包就在catkin_ws目录下)
* 在catkin_ws下,进入终端,输入:
source devel/setup.bash
然后打开aloam16线激光,输入:
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
再在catkin_ws下,打开个终端,输入:
rosbag play nsh_indoor_outdoor.bag
** 在桌面进入终端,输入:
source ~/catkin_ws/devel/setup.bash
然后输入:
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
再在桌面打开个终端,输入:
rosbag play /home/yangyuhang/catkin_ws//nsh_indoor_outdoor.bag(bag包地址)
两种方式主要区别在于,打开setup.bash和bag包的方式,只要是rosbag play后面加入bag包的实际地址,就可以执行。
运行结果如下图:
写在最后:新人小白,如有问题还请见谅;
整理不易,觉得有帮助的可以点个赞啥的,感谢!!!