LIO-SAM配置

最新推荐文章于 2024-05-14 15:22:48 发布

原创最新推荐文章于 2024-05-14 15:22:48 发布 · 675 阅读

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GEO检测

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#笔记

安装ros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

因子图优化库下载
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
{
因子图优化库下载
https://github.com/borglab/gtsam/archive/4.0.2.zip

解压安装该库（有点慢）
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
}

创建工作空间
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
echo “source ~/catkin_ws/devel/setup.bash” >> ~/.bashrc
source ~/.bashrc

在工作空间下克隆Lio-sam工程，安装lio-sam
（为加速下载clone处加国内代理网址https://ghproxy.com/）
cd ~/catkin_ws/src
git clone https://ghproxy.com/https://github.com/TixiaoShan/LIO-SAM.git
cd …
catkin_make

下载数据集保存到src/data
出现存储空间不足问题：参考https://blog.csdn.net/weixin_56017984/article/details/123433167?ops_request_misc=&request_id=&biz_id=102&utm_term=ubuntu%20%E7%9B%AE%E6%A0%87%E4%BD%8D%E7%BD%AE%E6%B2%A1%E6%9C%89%E8%B6%B3%E5%A4%9F%E7%A9%BA%E9%97%B4%EF%BC%8C%E8%AF%B7%E7%A7%BB%E9%99%A4%E4%B8%80%E4%BA%9B%E6%96%87%E4%BB%B6%E4%BB%A5%E4%BE%BF%E9%87%8A%E6%94%BE%E7%A9%BA&utm_medium=distribute.pc_search_result.none-task-blog-2_allsobaiduweb~default-6-123433167.142^v88control_2,239^v2insert_chatgpt&spm=1018.2226.3001.4187
卸载了vscode…有空研究下空间到底怎么回事

运行LIO-SAM
roslaunch lio-sam run.launch

之前写错了有这个报错
bash: /home/gyh/catkin_ws/devel/setup.bash: 没有那个文件或目录
gedit ~/.bashrc最后配置删了

RLException: [run.launch] is neither a launch file in package [lio-sam] nor is [lio-sam] a launch file name
The traceback for the exception was written to the log file
gedit ~/.bashrc最后添加
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ros_workspace/src
echo $ROS_PACKAGE_PATH

错误显示找不到文件libmetis.so报错（获取root权限，然后复制就行了！！
sudo cp usr/local/lib/libmetis.so usr/lib/libmetis.so
复制权限不够（不该瞎更改权限的）
Error opening file “/usr/lib/libmetis.so”: 权限不够
$ sudo chmod -R 777 /opt
其中/opt是你要复制到的目标目录，根据实际情况修改。
报错
sudo: error in /etc/sudo.conf, line 0 while loading plugin “sudoers_policy”
sudo: /usr/lib/sudo/sudoers.so 必须只对其所有者可写
sudo: 致命错误，无法加载插件

chmod: 更改’/usr/lib/sudo/sudoers.so’ 的权限: 不允许的操作

播放数据包
rosbag play ~/catkin_ws/src/data/casual_walk.bag