LIO-SAM的安装与运行 --ubuntu18.04

1安装ROS相关依赖

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

LIO-SAM采用因子图优化库gtsam,安装gtsam:

wget -O ~/Downloads/gtsam.zip https://ghproxy.com/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 ..
sudo make install -j8

直接wget github地址来下载gtsam会很慢，加代理网址https://ghproxy.com/，能够显著加速下载。gtsam的版本为4.0.2，安装其他版本可能会导致LIO_SAM运行报错
2安装LIO-SAM

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

3运行LIO-SAM
roslaunch lio-sam run.launch

LIO-SAM源码做点修改才能跑，幸好有人做过了，用的这个项目：https://github.com/nkymzsy/LIO-SAM-MID360.git