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【ROS1】LeGO-LOAM-BOR最简洁复现过程

作者:互联网

(一)运行环境:

(二)复现过程:

  1. 通过github了解LeGo-LOAM-BOR是什么,github链接

  2. 在ubuntu中安装依赖库

    wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
    cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
    cd ~/Downloads/gtsam-4.0.0-alpha2/
    mkdir build && cd build
    cmake ..
    sudo make install
    

    具体操作:打开终端,分别直接运行以上命令行,下载后的文件在Downloads文件夹下,下载的文件是gtsam-4.0.0-alpha2
    在这里插入图片描述

  3. 下载编译LeGo-LOAM-BOR包

    cd ~/catkin_ws/src
    git clone https://github.com/facontidavide/LeGO-LOAM-BOR.git
    cd ..
    catkin_make
    

    具体操作:直接打开终端,运行以上命令,下载编译的包在catkin_ws/src文件夹下,然后新建一个dataset文件夹。
    注意:编译过程中可能出现问题,下面我遇到的问题,和解决方案。

    遇到问题:
    If you got the following error:
    
    Errors     << lidar_imu_calib:make /home/he/catkin_ws/logs/lidar_imu_calib/build.make.003.log                                     
    In file included from /home/he/catkin_ws/src/lidar_imu_calib/include/calibExRLidar2Imu.h:16:0,
                     from /home/he/catkin_ws/src/lidar_imu_calib/src/lib/calibExRLidar2Imu.cpp:1:
    /usr/include/lz4.h:196:57: error: conflicting declaration ‘typedef struct LZ4_stream_t LZ4_stream_t’
     typedef struct { long long table[LZ4_STREAMSIZE_U64]; } LZ4_stream_t;
    
    In file included from /home/he/catkin_ws/src/lidar_imu_calib/include/calibExRLidar2Imu.h:16:0,
                     from /home/he/catkin_ws/src/lidar_imu_calib/src/lib/calibExRLidar2Imu.cpp:1:
    /usr/include/lz4.h:249:72: error: conflicting declaration ‘typedef struct LZ4_streamDecode_t LZ4_streamDecode_t’
     typedef struct { unsigned long long table[LZ4_STREAMDECODESIZE_U64]; } LZ4_streamDecode_t;
    
    解决方案
    sudo mv /usr/include/flann/ext/lz4.h /usr/include/flann/ext/lz4.h.bak
    sudo mv /usr/include/flann/ext/lz4hc.h /usr/include/flann/ext/lz4.h.bak
    
    sudo ln -s /usr/include/lz4.h /usr/include/flann/ext/lz4.h
    sudo ln -s /usr/include/lz4hc.h /usr/include/flann/ext/lz4hc.h
    

    在这里插入图片描述

  4. 下载rosbag包,放刚刚新建的dataset文件夹中
    nsh_indoor_outdoor.bag,提取码:2rkd

  5. 开始复现
    (1)在catkin_ws文件夹下打开终端,运行roscore

    roscore
    

    在这里插入图片描述

    (2)在catkin_ws文件夹下在打开一个新终端,运行下面命令,同时会打开Rviz

    roslaunch lego_loam_bor run.launch lidar_topic:=/velodyne_points imu_topic:=/imu/data
    

    在这里插入图片描述
    (3)在dataset文件夹下新打开一个终端,运行下面命令,同时会在Rviz上显示点云

    rosbag play --clock nsh_indoor_outdoor.bag
    

    在这里插入图片描述
    (4)遇到的问题

    遇到问题:
    error while loading shared libraries: libxxx.so: cannot open shared object file
    
    解决方案:
    原因在于:
    libmetis-gtsam.so这个文件位于路径“/usr/local/lib” 中,而程序默认找的位置是路径“/usr/lib”,所以没有找到,看了很多方法,还挺麻烦的,所以自己想出来一种方法——把文件复制过去。
    具体操作就是在打开终端,运行
    sudo cp /usr/local/lib/libxxx.so usr/lib
    

(三)ROS学习总结:

  1. 了解怎样查看ROS版本
    终端1:roscore
    终端2:rosparam get /rosdistro
    
  2. 了解Rviz最基本操作
    鼠标左键:旋转地图
    鼠标滚轮:放大缩小地图
    按住滚轮:平移地图

标签:gtsam,LeGO,LOAM,BOR,sudo,文件夹,usr,flann,include
来源: https://blog.csdn.net/qq_41821678/article/details/115537291