一、源码地址:
二、依赖安装
本机ubuntu18.04 melodic
三、开始安装
如果已经创建过catkin_ws,直接cd过去就行
cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1
source ~/catkin_ws/devel/setup.bash
四、运行:
终端1:
roslaunch lego_loam run.launch
终端2:
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag --clock --topic /velodyne_points /imu/data
--clock使用BAG的时钟
包下载地址:https://drive.google.com/file/d/1s05tBQOLNEDDurlg48KiUWxCp-YqYyGH/view