A-LOAM的安装运行及问题解决

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！！！