ubuntu16.04 运行LIO-SLAM

#####仅作为笔记
环境：
ubuntu16.04

1. pcl-1.8.1

#https://github.com/PointCloudLibrary/pcl/releases下载对应版本zip
#安装过程参考：
#https://blog.youkuaiyun.com/lilywri823/article/details/86583269
cd pcl-pcl-1.8.1
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None -DBUILD_apps=ON -DBUILD_examples=ON ..
make -j4
sudo make install

2. gtsam

wget -O ~/Downloads/gtsam.zip 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 ..
make -j4
sudo make install

3. ros依赖

sudo apt-get install -y ros-kinetic-navigation
sudo apt-get install -y ros-kinetic-robot-localization
sudo apt-get install -y ros-kinetic-robot-state-publisher

4. lio-slam

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make

5. 测试

#数据集下载
# Walking dataset: https://drive.google.com/file/d/1HN5fYPXEHbDq0E5JtbQPkCHIHUoTFFnN/view?usp=sharing
# Park dataset: https://drive.google.com/file/d/19PZieaJaVkXDs2ZromaHTxYoq0zkiHae/view?usp=sharing
# Garden dataset: https://drive.google.com/file/d/1q6yuVhyJbkUBhut9yhfox2WdV4VZ9BZX/view?usp=sharing
#更多内容参考：https://github.com/TixiaoShan/LIO-SAM
roslaunch lio_sam run.launch
rosbag play your-bag.bag -r 3

6. 测试结果