ubuntu 20.04 复现 LVI-SAM

cosX+sinY2025-04-09 12:21

1.环境配置

ubuntu20.04 + ROS-Noetic + GTSAM 4.0.2 + Ceres 1.14.0

前面的我都安装过了，但Ceres 我安装的是 2.2.0,现在安装Ceres 1.14.0

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sudo apt-get update
sudo apt-get install cmake libgoogle-glog-dev libgflags-dev libatlas-base-dev libeigen3-dev libsuitesparse-dev

wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
tar zxf ceres-solver-1.14.0.tar.gz
cd ceres-solver-1.14.0

mkdir build
cd build

cmake ..

make -j4

sudo make install

2.数据集下载

LVI-SAM数据集

3.搭建目录和clone代码

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mkdir -p LVI-SAM/src
cd LVI-SAM/src

git clone https://github.com/TixiaoShan/LVI-SAM
cd ..

4.修改代码

4.1 CMakeLists.txt 的C++标准改为14：

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

第37行后面加入find_package(Boost REQUIRED COMPONENTS timer thread serialization chrono)

4.2

4.3

4.4

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#include <opencv2/imgproc/imgproc_c.h>

5.编译

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catkin_make -j4

6.运行launch

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source ./devel/setup.bash
roslaunch lvi_sam run.launch

7.运行上面下载的数据集

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rosbag play handheld.bag

8.在RVIZ查看