Ubuntu 18.04 LTS
ros-melodic
1. gtsam 설치
wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install
2. 컴파일
cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make
3. 실행
roslaunch lego_loam run.launch
4. 샘플 rosbag파일 play
sample dataset download:
github.com/RobustFieldAutonomyLab/jackal_dataset_20170608
rosbag play *.bag --clock --topic /velodyne_points /imu/data
# Trouble shooting
sudo apt-get install libparmetis-dev