请先参阅此文安装相关依赖
1. 安装LeGO-LOAM
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| cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1
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2. 编译建图
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| cd mapping
source devel/setup.bash
catkin_make -j1
roslaunch lego_loam run.launch
rosbag play yourbag.bag --clock
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注：可能出现的一个错误，找不到libgtsam，需要从/usr/local/lib拷贝到/usr/lib
还可能出现的问题是，用的激光雷达是速腾的，需要修改下run.launch和utility.h
可以参考这篇文章
啥时候我切系统再把文件copy放上来
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| <launch>
<param name="/use_sim_time" value="true" />
<node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen" />
<node pkg="nodelet" type="nodelet" name="passthrough" args="load pcl/PassThrough pcl_manager" output="screen">
<remap from="~input" to="/rslidar_points" />
<remap from="/passthrough/output" to="/velodyne_points" />
<rosparam>
filter_field_name: z
filter_limit_negative: True
</rosparam>
<rosparam>
filter_field_name: x
filter_limit_negative: True
</rosparam>
<rosparam>
filter_field_name: y
filter_limit_negative: True
</rosparam>
</node>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find lego_loam)/launch/test.rviz" />
<node pkg="tf" type="static_transform_publisher" name="camera_init_to_map" args="0 0 0 1.570795 0 1.570795 /map /camera_init 10" />
<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 -1.570795 -1.570795 0 /camera /base_link 10" />
<node pkg="lego_loam" type="imageProjection" name="imageProjection" output="screen"/>
<node pkg="lego_loam" type="featureAssociation" name="featureAssociation" output="screen"/>
<node pkg="lego_loam" type="mapOptmization" name="mapOptmization" output="screen"/>
<node pkg="lego_loam" type="transformFusion" name="transformFusion" output="screen"/>
</launch>
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| extern const string pointCloudTopic = "/velodyne_points";
extern const string imuTopic = "/imu/data";
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3. 点云可视化
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| sudo apt-get install libpcl-dev
sudo apt-get install pcl-tools
pcl_viewer pcd_file.pcd
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