1）安装依赖

1. Ubuntu and ROS文章链接
2. Ceres Solver
3. PCL
4. GTSAM
5. OPENCV
6. Trajectory visualization

sudo apt-get install ros-melodic-hector-trajectory-server

2）安装

终端运行：
1. cd ~/test_ws/src
2. git clone https://github.com/wh200720041/iscloam.git
3. cd ..
4. catkin_make -DCATKIN_WHITELIST_PACKAGES="iscloam"

注：test_ws需要更改为自己的工作空间，如若编译成功，进行下一步。

3）KITTI sequence 07测试

1. source ~/test_ws/devel/setup.bash
2. 修改iscloam.launch文件相关配置     
<node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 0.5 $(env HOME)/test_bag/2011_09_30_0027.bag"/> 
3. roslaunch iscloam iscloam.launch
如若想同时生成地图
   roslaunch iscloam iscloam_mapping.launch

4）VLP16bag包

1.source ~/test_ws/devel/setup.bash
2.修改iscloam.launch文件相关配置     
<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"/> 
<param name="scan_line" value="16" />
<param name="min_dis" type="double" value="0.5" />
3.roslaunch iscloam iscloam_velodyne_bag.launch
如若想同时生成地图
roslaunch iscloam iscloam_mapping_velodyne_bag.launch

iscloam_mapping_velodyne_bag.launch内容如下：

<?xml version="1.0"?>
<launch>
    <node pkg="rosbag" type="play" name="rosbag_play" args="--clock -r 2 $(env HOME)/test_bag/indoor_2021-03-30-15-27-23.bag -s 800"/>

    <!--- Sim Time -->
    <param name="/use_sim_time" value="true" />
    <param name="scan_period" value="0.1" />
    <param name="scan_line" value="16" />
    <param name="ring_height" type="int" value="20" />
    <param name="ring_width" type="int" value="60" />
    <param name="vertical_angle" type="double" value="2.0" />
    <param name="max_dis" type="double" value="90.0" />
    <param name="min_dis" type="double" value="0.5" />
    <!--- -->
    <node pkg="iscloam" type="iscloam_odom_estimation_node" name="iscloam_odom_estimation_node" output="screen"/>
    <node pkg="iscloam" type="iscloam_laser_processing_node" name="iscloam_laser_processing_node" output="screen"/>
    <node pkg="iscloam" type="iscloam_isc_generation_node" name="iscloam_isc_generation_node" output="screen"/>
    <node pkg="iscloam" type="iscloam_isc_optimization_node" name="iscloam_isc_optimization_node" output="screen"/>
    <node pkg="iscloam" type="iscloam_laser_mapping_node" name="iscloam_laser_mapping_node" output="screen"/>

    <node pkg="tf" type="static_transform_publisher" name="word2map_tf"  args="0 0 0 0 0 0 /world /map 10" />

    <arg name="rviz" default="true" />
    <group if="$(arg rviz)">
        <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz" args="-d $(find iscloam)/rviz/iscloam_mapping.rviz" />
    </group>

    
    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="gt" >
        <param name="/target_frame_name" value="world" />
        <param name="/source_frame_name" value="velodyne" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>
    <node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_loam" ns="odom_final" >
        <param name="/target_frame_name" value="world" />
        <param name="/source_frame_name" value="odom_final" />
        <param name="/trajectory_update_rate" value="10.0" />
        <param name="/trajectory_publish_rate" value="10.0" />
    </node>

</launch>

运行过程中的截图

视频

问题： iscloam_laser_mapping_node节点，可能会出现运行一段时间就报错，崩溃

5）直接使用VLP16

1. roslaunch iscloam iscloam_velodyne.launch
如果在较为狭窄的区域建图，则需要修改 <param name="min_dis" type="double" value="3.0" />参数，设置为较小值

6）问题及解决

如若catkin_make失败，初步判断是pcl库的问题时，检查是否源码安装pcl，卸载源码安装的pcl即可

7）修改配置后的源码包和bag包

bag包获取方式可留言，私信给下载链接