{"id":4206,"date":"2024-04-01T00:25:26","date_gmt":"2024-03-31T16:25:26","guid":{"rendered":"http:\/\/www.ccwifi.cc\/blogs\/?p=4206"},"modified":"2024-04-01T00:25:26","modified_gmt":"2024-03-31T16:25:26","slug":"lego-loam%e4%bb%a3%e7%a0%81%e8%b7%91%e5%bc%80%e6%ba%90%e6%95%b0%e6%8d%ae%e5%8c%85-%e5%b0%8f8809","status":"publish","type":"post","link":"https:\/\/www.ccwifi.cc\/blogs\/2024\/04\/01\/lego-loam%e4%bb%a3%e7%a0%81%e8%b7%91%e5%bc%80%e6%ba%90%e6%95%b0%e6%8d%ae%e5%8c%85-%e5%b0%8f8809\/","title":{"rendered":"Lego-Loam\u4ee3\u7801\u8dd1\u5f00\u6e90\u6570\u636e\u5305--\u5c0f\u767d\u6210\u529f\u6848\u4f8b\u5206\u4eab"},"content":{"rendered":"
\n

\u5728\u7ebfwifi\u8dd1\u5305 \u91d1\u521a\u5305\u8dd1\u5305 cap\u8dd1\u5305 hccapx ewsa\u5728\u7ebf \u5c31\u6765 \u63e1\u624b\u5305\u8dd1\u5305<\/a><\/strong><\/p>\n

\u5404\u4f4d\u597d \u53c8\u89c1\u9762\u4e86 \u6211\u662f\u66f9\u64cd \u4eca\u5929\u7ed9\u5927\u5bb6\u5e26\u6765\u4e00\u7bc7\u65b0\u7684\u6559\u7a0b<\/p>\n

\u5e0c\u671b\u5404\u4f4d\u7ec6\u5fc3\u5b66\u4e60 \u4f4e\u8c03\u7528\u7f51<\/p>\n<\/div>\n

git clone https:<\/span>\/<\/span>\/<\/span>bitbucket.<\/span>org\/<\/span>gtborg\/<\/span>gtsam.<\/span>git\n<\/code><\/pre>\n
mkdir build\ncd build\ncmake .<\/span>.<\/span>\nmake check (<\/span>\u53ef\u7701\u7565)<\/span>\nmake install\n<\/code><\/pre>\n
\u91cd\u65b0\u6784\u5efaLego-Loam\u4ee3\u7801\u8fd0\u884c\u5f00\u6e90\u6570\u636e\u5305–\u5c0f\u767d\u6210\u529f\u6848\u4f8b\u5206\u4eab\u3002\u5b89\u88c5\u73af\u5883\uff1a\u6211\u4f7f\u7528\u7684\u662fUbuntu18.04\u548cROS Melodic Morenia\u3002\u9996\u5148\uff0c\u9700\u8981\u5b89\u88c5GTSAM\u3002\u5728\u8fd9\u4e00\u6b65\u4e2d\uff0c\u6211\u6ca1\u6709\u9047\u5230\u4efb\u4f55\u95ee\u9898\u3002\u8bf7\u6ce8\u610f\uff0c\u5728\u89e3\u538b\u540e\u7684\u6587\u4ef6\u5939\u4e2d\uff0c\u53f3\u952e\u70b9\u51fb\u8fdb\u5165\u7ec8\u7aef\uff0c\u5e76\u6267\u884c\u4ee5\u4e0b\u4ee3\u7801\uff1a<\/p>\n
--<\/span> Install configuration:<\/span> \"Release\"<\/span>\n--<\/span> Installing:<\/span> \/<\/span>usr\/<\/span>local\/<\/span>lib\/<\/span>cmake\/<\/span>GTSAM\/<\/span>gtsam_extra.<\/span>cmake\nCMake Error at cmake_install.<\/span>cmake:<\/span>49<\/span> (<\/span>file)<\/span>:<\/span>\n  file INSTALL cannot copy file\n  \"\/home\/xie\/catkin_ws1\/src\/gtsam\/build\/gtsam_extra.cmake\"<\/span> to\n  \"\/usr\/local\/lib\/cmake\/GTSAM\/gtsam_extra.cmake\"<\/span>.<\/span>\nMakefile:<\/span>128<\/span>:<\/span> recipe for<\/span> target 'install'<\/span> failed\nmake:<\/span> *<\/span>*<\/span>*<\/span> [<\/span>install]<\/span> Error 1<\/span>\n<\/code><\/pre>\n
sudo make install\n<\/code><\/pre>\n
cd ~<\/span>\/<\/span>catkin_ws\/<\/span>src   (<\/span>\u6362\u6210\u81ea\u5df1\u7684ROS\u5de5\u4f5c\u7a7a\u95f4)<\/span> \ngit clone https:<\/span>\/<\/span>\/<\/span>github.<\/span>com\/<\/span>RobustFieldAutonomyLab\/<\/span>LeGO-<\/span>LOAM.<\/span>git\n<\/code><\/pre>\n
\u5728\u8fd9\u4e00\u6b65\u4e2d\uff0c\u53ef\u80fd\u4f1a\u9047\u5230\u62a5\u9519\uff0c\u62a5\u9519\u4fe1\u606f\u5982\u4e0b\u56fe\u6240\u793a\u3002\u8fd9\u53ef\u80fd\u662f\u7531\u4e8e\u6743\u9650\u95ee\u9898\u5bfc\u81f4\u7684\u3002\u6267\u884c\u4ee5\u4e0b\u4ee3\u7801\u5373\u53ef\u89e3\u51b3\uff1a<\/p>\n
\u5b89\u88c5gtsam\u62a5\u9519\u53c2\u8003\u94fe\u63a5<\/p>\n
\u53c2\u8003\u7f51\u7ad9\uff1a<\/p>\n
\/\/ 2. \u4e0b\u8f7d\u3001\u7f16\u8bd1LeGO-LOAM\uff0c\u53ef\u4ee5\u53c2\u8003\u7b2c\u4e00\u7bc7\u53c2\u8003\u7f51\u7ad9\u3002\u5728\u8fd9\u4e00\u6b65\u4e2d\uff0c\u6211\u9047\u5230\u4e86\u4ee5\u4e0b\u95ee\u9898\uff1a<\/p>\n
cd ~<\/span>\/<\/span>catkin_ws\ncatkin_make -<\/span>j1\n<\/code><\/pre>\n
CMake Error at \/<\/span>opt\/<\/span>ros\/<\/span>melodic\/<\/span>share\/<\/span>catkin\/<\/span>cmake\/<\/span>catkin_workspace.<\/span>cmake:<\/span>100<\/span> (<\/span>message)<\/span>:<\/span>\n  This workspace contains non-<\/span>catkin packages in it,<\/span> and<\/span> catkin cannot build\n  a non-<\/span>homogeneous workspace without isolation.<\/span>  Try the\n  'catkin_make_isolated'<\/span> command instead.<\/span>\nCall Stack (<\/span>most recent call first)<\/span>:<\/span>\n  CMakeLists.<\/span>txt:<\/span>69<\/span> (<\/span>catkin_workspace)<\/span>\n--<\/span> Configuring incomplete,<\/span> errors occurred!<\/span>\nSee also \"\/home\/xie\/catkin_ws1\/build\/CMakeFiles\/CMakeOutput.log\"<\/span>.<\/span>\nSee also \"\/home\/xie\/catkin_ws1\/build\/CMakeFiles\/CMakeError.log\"<\/span>.<\/span>\nInvoking \"cmake\"<\/span> failed\n<\/code><\/pre>\n
catkin_make_isolated\n<\/code><\/pre>\n
roslaunch lego_loam run.<\/span>launch\n<\/code><\/pre>\n
\u91cd\u65b0\u6253\u5f00\u4e00\u4e2a\u7ec8\u7aef\uff0c\u7b2c\u4e00\u6b21\u7f16\u8bd1\u65f6\u6ca1\u6709\u9047\u5230\u9519\u8bef\uff0c\u4f46\u5728\u91cd\u65b0\u5b89\u88c5\u65f6\uff0c\u9047\u5230\u4e86\u4ee5\u4e0b\u62a5\u9519\uff1a<\/p>\n
\u7136\u540e\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\uff08\u5c06catkin_ws\u5de5\u4f5c\u7a7a\u95f4\u76ee\u5f55\u4e0b\u7684devel\/\u66ff\u6362\u4e3a\u5b9e\u9645\u8def\u5f84\uff09\uff1a<\/p>\n
\u8fd9\u4e00\u6b65\u4e2d\uff0c\u7f16\u8bd1gtsam\u53ef\u80fd\u9700\u8981\u4e00\u4e9b\u65f6\u95f4\u3002\u540e\u7eed\u53ef\u4ee5\u5355\u72ec\u7f16\u8bd1\u4e00\u4e2a\u6216\u591a\u4e2a\u5305\uff0c\u4ee5\u63d0\u9ad8\u6548\u7387\u3002\u5173\u4e8ecatkin_make -j1\u7684\u4ecb\u7ecd\uff0c\u8bf7\u53c2\u8003\u4ee5\u4e0b\u7f51\u7ad9\uff1a<\/p>\n
    \n
  1. \u8fd0\u884cLeGO-LOAM\u4ee3\u7801<\/li>\n<\/ol>\n
    error while loading shared libraries: libmentis.so: cannot open shared libraries: libmetis.so: cannot open shared object file: No such file or directory\n<\/code><\/pre>\n
    sudo apt-<\/span>get install libparmetis-<\/span>dev\n<\/code><\/pre>\n
    \u5728\u8fd0\u884c\u8fc7\u7a0b\u4e2d\uff0c\u6211\u9047\u5230\u4e86\u4ee5\u4e0b\u95ee\u9898\uff1a<\/p>\n
      \n
    1. \n
      \u6211\u9047\u5230\u7684\u4e00\u4e2abug\u5982\u4e0b\u56fe\u6240\u793a\u3002\u641c\u7d22\u7ed3\u679c\u5927\u90e8\u5206\u90fd\u662f\u5173\u4e8e\u627e\u4e0d\u5230\u76f8\u5e94\u7684\u5e93\u6587\u4ef6\uff0c\u9700\u8981\u6dfb\u52a0\u6240\u9700\u52a8\u6001\u5e93\u7684\u641c\u7d22\u8def\u5f84\u3002\u6709\u591a\u79cd\u89e3\u51b3\u65b9\u6cd5\u53ef\u4ee5\u5728\u7f51\u4e0a\u627e\u5230\uff0c\u53ef\u4ee5\u53c2\u8003\u4ee5\u4e0b\u7f51\u7ad9\uff1a<\/p>\n<\/li>\n
    2. \n
      \u6211\u5c1d\u8bd5\u4e86\u4e0a\u8ff0\u7f51\u7ad9\u4e2d\u7684\u4e00\u4e9b\u65b9\u6cd5\uff0c\u4f46\u4ecd\u7136\u9047\u5230\u9519\u8bef\uff0c\u76f4\u5230\u6211\u770b\u5230\u4e86\u4e0b\u9762\u8fd9\u4e2a\u7f51\u7ad9\u3002\u53ea\u9700\u8981\u4e00\u884c\u4ee3\u7801\u5373\u53ef\u89e3\u51b3\u9519\u8bef\uff0c\u539f\u56e0\u662f\u6211\u5c11\u5b89\u88c5\u4e86\u4e00\u4e2a\u5305\uff01\uff01\uff01<\/p>\n<\/li>\n<\/ol>\n
      catkin_make_isolated\n<\/code><\/pre>\n
        \n
      1. \u6210\u529f\u89e3\u51b3\u540e\uff0c\u56db\u4e2a\u8282\u70b9\u90fd\u4f1a\u542f\u52a8\uff0c\u754c\u9762\u5982\u4e0b\u56fe\u6240\u793a\u3002<\/li>\n<\/ol>\n
        \u5728\u7b2c\u4e8c\u6b21\u91cd\u65b0\u5b89\u88c5\u65f6\uff0c\u6211\u9047\u5230\u4e86\u4ee5\u4e0b\u62a5\u9519\u3002\u5982\u679c\u60a8\u4e5f\u9047\u5230\u4e86\u76f8\u540c\u7684\u95ee\u9898\uff0c\u53ef\u4ee5\u5c1d\u8bd5\u4ee5\u4e0b\u65b9\u6cd5\uff1a\u5220\u9664catkinws\u5de5\u4f5c\u7a7a\u95f4\u76ee\u5f55\u4e0b\u7684devel\/\u3001build\/\u3001devel<\/em>isolated\/\u3001build_isolated\/\u6587\u4ef6\u5939\uff0c\u7136\u540e\u6267\u884c\u4ee5\u4e0b\u547d\u4ee4\uff1a<\/p>\n
        rosbag play ~<\/span>\/<\/span>build\/<\/span>nsh_indoor_outdoor.<\/span>bag --<\/span>clock --<\/span>topic \/<\/span>velodyne_points \/<\/span>imu\/<\/span>data\n<\/code><\/pre>\n
        <\/p>\n
        \u62a5\u9519\u4fe1\u606f\u5982\u4e0b\uff1a<\/p>\n
          \n
        1. \n
          \u8fd0\u884c\u6570\u636e\u5305<\/p>\n<\/li>\n
        2. \n
          \u542f\u52a8launch\u6587\u4ef6\u540e\uff0cRviz\u4e5f\u4f1a\u542f\u52a8\uff0c\u6b64\u65f6\u4f1a\u62a5\u9519\uff0c\u754c\u9762\u5982\u4e0b\u56fe\u6240\u793a\u3002\u8fd9\u662f\u6b63\u5e38\u73b0\u8c61\uff0c\u56e0\u4e3a\u6ca1\u6709\u6570\u636e\u8f93\u5165\u3002<\/p>\n<\/li>\n
        3. \n
          \u6253\u5f00\u65b0\u7684\u7ec8\u7aef\uff0c\u542f\u52a8\u6570\u636e\u5305\u7684\u56de\u653e\uff0c\u4ee3\u7801\u5982\u4e0b\uff1a<\/p>\n<\/li>\n<\/ol>\n
          \u5176\u4e2d\uff0c~\/build\u662f\u5b58\u653enshindoor<\/em>outdoor.bag\u6570\u636e\u5305\u7684\u6587\u4ef6\u5939\u8def\u5f84\uff08\u6211\u7684\u6570\u636e\u5305\u5b58\u653e\u5728home\u76ee\u5f55\u4e0b\u7684build\u6587\u4ef6\u5939\u4e2d\uff09\uff0c\u60a8\u9700\u8981\u5c06\u5176\u66ff\u6362\u4e3a\u60a8\u5b58\u653e\u6570\u636e\u5305\u7684\u8def\u5f84\uff0c\u5176\u4ed6\u90e8\u5206\u4fdd\u6301\u4e0d\u53d8\u5373\u53ef\u3002<\/p>\n
            \n
          1. \n
            \u6210\u529f\u5728Rviz\u4e2d\u663e\u793a\u6570\u636e\u5305\u7684\u70b9\u4e91\u6570\u636e\u3002<\/p>\n<\/li>\n
          2. \n
            \u611f\u8c22\u672c\u6587\u6240\u53c2\u8003\u94fe\u63a5\u7684\u535a\u4e3b\u4eec\u7684\u5206\u4eab\uff1a[1] [2] [3] [4] [5] [6] [7]<\/p>\n<\/li>\n<\/ol>\n","protected":false},"excerpt":{"rendered":"
            Lego-Loam\u4ee3\u7801\u8dd1\u5f00\u6e90\u6570\u636e\u5305–\u5c0f\u767d\u6210\u529f\u6848\u4f8b\u5206\u4eabLego-Loam\u4ee3\u7801\u8dd1\u5f00\u6e90\u6570\u636e\u5305–\u5c0f\u767d\u6210\u529f\u6848\u4f8b\u5206\u4eab\u5b89\u88c5\u73af\u5883\uff1aUbuntu18.04+ROS Melodic Morenia 1<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"topic":[],"class_list":["post-4206","post","type-post","status-publish","format-standard","hentry","category-1"],"_links":{"self":[{"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/posts\/4206","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/comments?post=4206"}],"version-history":[{"count":0,"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/posts\/4206\/revisions"}],"wp:attachment":[{"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/media?parent=4206"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/categories?post=4206"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/tags?post=4206"},{"taxonomy":"topic","embeddable":true,"href":"https:\/\/www.ccwifi.cc\/blogs\/wp-json\/wp\/v2\/topic?post=4206"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}