Ubuntu 16.04 跑ALOAM

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系统条件：

Ubuntu 64-bit 16.04 or 18.04. ROS Kinetic or Melodic.

依赖条件：

1. Ceres Solver

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.4 libgflags-dev libgoogle-glog-dev
https://github.com/ceres-solver/ceres-solver   #在github上下载对应版本的Ceres非线性库 
tar zxf ceres-solver-1.x.x.tar.gz 
mkdir build && cd build && cmake .. 
make -j4 && sudo make install

2. PCL

#依赖
sudo apt-get update
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install cmake cmake-gui 
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common  
sudo apt-get install libflann1.8 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev 
sudo apt-get install mono-complete
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre
#下载包
 git clone https://github.com/PointCloudLibrary/pcl.git
#编译
cd pcl
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr            -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON            -DCMAKE_INSTALL_PREFIX=/usr ..
make -j4
sudo make install

3. ALOAM

cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

4. 测试

#16线激光雷达
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag

#64线激光雷达
roslaunch aloam_velodyne aloam_velodyne_HDL_64.launch
roslaunch aloam_velodyne kitti_helper.launch

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