好坑!需要编译livox_ros_driver最新版,因为其支持horizon,当然 啦 也要更新sdk。
set(CMAKE_PREFIX_PATH "/home/yoga/my_work/livox_forhorizon/devel/share/livox_ros_driver/cmake/")
set(LIVOX_INCLUDE_DIR "/home/yoga/my_work/livox_forhorizon/devel/include/")
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
${GTSAM_INCLUDE_DIR}
${LIVOX_INCLUDE_DIR}
)
需要添加以上代码快
第一行:可以理解为添加livox_ros_driver的包文件,不知道为什么添加以下不管用
find_package(livox_ros_driver REQUIRED PATH "/home/yoga/my_work/livox_forhorizon/devel/share/livox_ros_driver/cmake/")
第二行:系统报错,缺少头文件,所以把驱动的头文件添加进来
编译成功!!!