安装依赖
ros
Ceres Solver
PCL
安装
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
如果你只想编译ALoam功能包，可以在catkin_make后面添加-DCATKIN_WHITELIST_PACKAGES=”aloam_velodyne”命令，如下：
catkin_make -DCATKIN_WHITELIST_PACKAGES="aloam_velodyne"
bag包测试
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag
测试截图如下：
问题解决
问题1
如果运行
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
出现如下错误：
[alaserOdometry-3] process has died [pid 23572, exit code 127, cmd xxxxxxx_ws/devel/lib/aloam_velodyne/alaserOdometry __name:=alaserOdometry __log:=xxxxxxx/.ros/log/76115896-bef6-11eb-962f-94e6f7e52acc/alaserOdometry-3.log].
log file:xxxxxxx/.ros/log/76115896-bef6-11eb-962f-94e6f7e52acc/alaserOdometry-3*.log
[alaserMapping-4] process has died [pid 23574, exit code 127, cmd xxxxxxx_ws/devel/lib/aloam_velodyne/alaserMapping __name:=alaserMapping __log:=xxxxxxx/.ros/log/76115896-bef6-11eb-962f-94e6f7e52acc/alaserMapping-4.log].
log file:xxxxxxx/.ros/log/76115896-bef6-11eb-962f-94e6f7e52acc/alaserMapping-4*.log
解决1
卸载glog后，重新运行launch文件，问题解决！
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