安装依赖

ros
gtsam

  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

安装

cd ~/test_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1

如果你的工作空间中含有多个package包，并且你只想编译LeGO功能包，可以执行下面命令：

cd ~/test_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -DCATKIN_WHITELIST_PACKAGES="cloud_msgs"
catkin_make -DCATKIN_WHITELIST_PACKAGES="lego_loam"

VLP16 bag测试

cd ~/test_ws
source ./devel/setup.bash
roslaunch lego_loam run.launch

cd ~/test_bag
rosbag play indoor_2021-03-30-15-27-23.bag --clock --topic /velodyne_points /imu/data

其中 run.launch 内容如下：

<launch>
    
    <!--- Sim Time -->
    <param name="/use_sim_time" value="true" />

    <!--- Run Rviz-->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find lego_loam)/launch/test.rviz" />

    <!--- TF -->
    <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" />

    <!--- LeGO-LOAM -->    
    <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>

如果觉得启动两个终端比较麻烦，可以将bag包命令也写入launch文件中，执行下面命令即可：

cd ~/test_ws
source ./devel/setup.bash
roslaunch lego_loam run_VLP16_bag.launch

run_VLP16_bag.launch 内容如下：

<launch>
    
    <!--- Sim Time -->
    <param name="/use_sim_time" value="true" />

    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 0.5 $(env HOME)/test_bag/indoor_2021-03-30-15-27-23.bag"/> 

    <!--- Run Rviz-->
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find lego_loam)/launch/test.rviz" />

    <!--- TF -->
    <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" />

    <!--- LeGO-LOAM -->    
    <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>

测试视频

lego_loam

源文件下载链接

问题解决

问题1

如若在运行 roslaunch lego_loam run.launch 时，出现： yourbag_ws/devel/lib/lego_loam/mapOptmization: error while loading shared libraries: libmetis.so: cannot open shared object file: No such file or directory