LIO-SAM的安装与运行 --ubuntu18.04
作者：互联网
1安装ROS相关依赖
sudo apt-get install -y ros-melodic-navigation
sudo apt-get install -y ros-melodic-robot-localization
sudo apt-get install -y ros-melodic-robot-state-publisher
LIO-SAM采用因子图优化库gtsam,安装gtsam:
wget -O ~/Downloads/gtsam.zip https://ghproxy.com/https://github.com/borglab/gtsam/archive/4.0.2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j8
直接wget github地址来下载gtsam会很慢，加代理网址https://ghproxy.com/，能够显著加速下载。gtsam的版本为4.0.2，安装其他版本可能会导致LIO_SAM运行报错
2安装LIO-SAM
cd ~/catkin_ws/src
git clone https://ghproxy.com/https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make
3运行LIO-SAM
roslaunch lio-sam run.launch
标签：SAM,--,LIO,cd,https,gtsam,com 来源： https://blog.csdn.net/z1872385/article/details/123599268