Autonomous driving positioning from scratch-study notes-software framework
Scratch sit autopilot study notes, the main reference of any teacher know almost dry to practice recording
My debugging environment
ubuntu18.04
pcl 1.9
glog
ceres 1.4
g2o
Installation library (step on the pit)
To compile Mr. Ren Qian’s project, some libraries need to be pre-installed.
pcl 1.9
Install PCL1.9.1 under Ubuntu 18.04
Ceres1.14
Install Ceres 1.14 on Ubuntu 18.04
hawthorn
pip install
pip install glog
g2o
The g2o installation package is under the setup_file of Mr. Ren Qian’s project, decompress g2o.zip
cd g2o
cd build
cmake .. // 很快
make // 时间比较长
sudo make install // 安装
Operation demonstration
Transplant teacher Ren Qian’s github project into his own workspace, and compile catkin_make
on the basis of the results of the previous chapter, run test_frame.launch, and publish GNSS IMU messages for synchronization processing
roslaunch lidar_localization test_frame.launch
rqt_graph
Last recorded path
