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3D-SLAM入门教程-多线雷达SC-LeGO-LOAM三维建图

3D-SLAM入门教程-多线雷达SC-LeGO-LOAM三维建图

说明:

  • 介绍如何安装和使用SC-LeGO-LOAM

步骤:

  • 安装VTK
$ sudo apt install python-vtk
  • 或者
$ python -m pip install vtk
  • 安装gstam ,参考https://www.ncnynl.com/archives/201806/2471.html
  • 安装LeGO LOAM
cd ~/catkin_ws/src
git clone https://github.com/irapkaist/SC-LeGO-LOAM
cd ..
catkin_make -j1

测试:

  • 启动
roslaunch lego_loam run.launch
  • run.launch文件中/use_sim_time,如果是仿真,设置为true,如果不是,设置为false
  • 回放,可以指定话题
rosbag play *.bag --clock --topic /velodyne_points /imu/data
  • 一些rosbag包
https://github.com/RobustFieldAutonomyLab/jackal_dataset_20170608
https://github.com/TixiaoShan/Stevens-VLP16-Dataset

问题一:

  • 问题1:
libvtkRenderingPythonTkWidgets.so不能找到
  • 解决:
  • 不同平台路径会有差异
ln -s /usr/lib/python2.7/dist-packages/vtk/libvtkRenderingPythonTkWidgets.aarch64-linux-gnu.so  /usr/lib/aarch64-linux-gnu/libvtkRenderingPythonTkWidgets.so
  • 问题2:
CMake Error at /usr/share/cmake-3.5/Modules/CMakeFindDependencyMacro.cmake:45 (message):
Invalid arguments to find_dependency
Call Stack (most recent call first):
/usr/local/lib/cmake/GTSAM/GTSAMConfig.cmake:17 (find_dependency)
LeGO-LOAM/LeGO-LOAM/CMakeLists.txt:23 (find_package)
  • 解决:
将/usr/local/lib/cmake/GTSAM/GTSAMConfig.cmake:17 行的find_dependency改成find_package

参考:

  • https://github.com/irapkaist/SC-LeGO-LOAM

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标签: 3d-slam入门教程