ubuntu20.04 ros for noeitc lio-sam

download lio-sam from:

https://github.com/TixiaoShan/LIO-SAM

git clone https://github.com/TixiaoShan/LIO-SAM

dependency:

ros1

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

gtsam,  for ubuntu20.04 ,  need gtsam version >= 4.0.3, download from:

https://github.com/borglab/gtsam/tree/4.0.3

git  clone  https://github.com/borglab/gtsam/tree/4.0.3

mkdir build

$ cd build

$ cmake ..

$ make check (optional, runs unit tests)

$ make install

sudo cp /usr/local/lib//libmetis-gtsam.so /usr/lib

caution:

在usr/local/include 中找不到 eigen3 因为它在 usr/include中将其复制下

由于 20.04 自带的是OpenCV4所以要对 LIO-SAM 代码做一点改动

在 utility.h 中的

#include<opencv/cv.h>1

改为

#include<opencv2/imgproc.hpp>1

about pcl 1.10 

这里修改 lio-sam 的编译配置就行 打开 liosam的CMakeLists.txt:

将第5行的

set(CMAKE_CXX_FLAGS "-std=c++11")

改为

set(CMAKE_CXX_FLAGS "-std=c++14")

catkin_make -DCATKIN_WHITELIST_PACKAGES="lio_sam"

rospack profile

        roslaunch lio_sam run.launch