LIO-SAM配置运行

版本：Ubuntu16.04+kinetic

Dependency

• ROS

  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

  wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
  cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
  cd ~/Downloads/gtsam-4.0.2/
  mkdir build && cd build
  cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
  sudo make install -j8
  

 

Install

Use the following commands to download and compile the package.

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make

安装完成后需要进行文件配置，才能运行。尤其是imu和激光雷达的坐标系关系，一定要弄明白

参考如下：https://zhuanlan.zhihu.com/p/171589473

 Eigen::Vector3d acc(imu_in.linear_acceleration.x, imu_in.linear_acceleration.y, imu_in.linear_acceleration.z);
        acc = extRot * acc;
        imu_out.linear_acceleration.x = acc.x();
        imu_out.linear_acceleration.y = acc.y();
        imu_out.linear_acceleration.z = acc.z();
        // rotate gyroscope
        Eigen::Vector3d gyr(imu_in.angular_velocity.x, imu_in.angular_velocity.y, imu_in.angular_velocity.z);
        gyr = extRot * gyr;
        imu_out.angular_velocity.x = gyr.x();
        imu_out.angular_velocity.y = gyr.y();
        imu_out.angular_velocity.z = gyr.z();
        // rotate roll pitch yaw
        Eigen::Quaterniond q_from(imu_in.orientation.w, imu_in.orientation.x, imu_in.orientation.y, imu_in.orientation.z);
        Eigen::Quaterniond q_final = q_from * extQRPY;
        imu_out.orientation.x = q_final.x();
        imu_out.orientation.y = q_final.y();
        imu_out.orientation.z = q_final.z();
        imu_out.orientation.w = q_final.w();