关于A-loam的运行及安装

因为快捷方式安装的依赖（如cmake、eigen）版本low，不对应，手动更新

cmake更新（3.5---->3.15）

参考：

【003】cmake安装更新（解决cmake报错：CMake 3.8 or higher is required. You are running version 3.5.1）_龚小梦的博客-CSDN博客

cmake高版本安装及踩坑_槲寄、生下的博客-CSDN博客_cmake版本过高

•  下载3.15.2，提取到此处

• cd cmke-3.15.2
  ./configure
  make 
  sudo make install
  cmake --version 

eigen更新（3.2.9---->3.3.9）

•  参考如下：Ceres2.0.0报错：variable or field ‘it’ declared void，ceres和eigen版本分别回退为1.14.0和2.2.9_SoftwarerRJY的博客-CSDN博客
• 下载地址：http://eigen.tuxfamily.org/index.php?title=Main_Page 
• 下载完成进入到eigen目录下，安装步骤：

• mkdir build
  cd build
  cmake ..
  sudo make install
  sudo ldconfig -v
  sudo cp -r /usr/local/include/eigen3 /usr/include 
  
  

  gedit /usr/include/eigen3/Eigen/src/Core/util/Macros.h
  #查看版本

安装Ceres

• 首先安装一系列依赖

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev

• 下载1.14.0.tar.gz
• 提取到此处，安装步骤

mkdir build
cd build
cmake ..
make
sudo make install

Aloam运行

之后

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

播放包

#16线激光雷达
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag

#64线激光雷达
roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch
roslaunch aloam_velodyne kitti_helper.launch