livox_ros_driver/livox_ros_driver/CMakeLists.txt:46 (generate_messages) 如果工作空间中之前编译了 livox_ros_driver 的功能包,则需要删掉 faster-lio/thirdparty/livox_ros_driver 这个文件夹 再次编译 CMake Error at faster-lio/CMakeLists.txt:15 (add_su...
AgNFVSzSYXMahcEZejoUwCaHRcactQ?e=YsOYy2 Call run_mapping_offline with parameters to specify the bag file and the config file like: 通过下面的指令 运行 run_mapping_offline 文件 并且加载对应的rosbag文件 和对应的配置文件 ./build/devel/lib/faster_lio/run_mapping_offline --bag_file your_avia_...
· ROS (melodic or noetic) · glog: sudo apt-get install libgoogle-glog-dev · Eigen: sudo apt-get install libeigen3-dev · pcl: sudo apt-get install libpcl-dev · yaml-cpp: sudo apt-get install libyaml-cpp-dev 2. 更新g++编译器到9.0 解决的问题: /home/test/LIVOX/FASTER_LIO/catkin...
如果出现这种情况,需要删除faster-lio/thirdparty/livox_ros_driver文件夹,并注释掉faster-lio/CMakeLists.txt中对应的add_subdirectory行。 3. 配置Faster-LIO的参数文件 Faster-LIO的配置文件通常位于config目录下,如avia.yaml或velodyne.yaml等。你需要根据实际使用的雷达和IMU设备,配置相应的参数文件。 例如,如果你...
lidar_begin_time; p_imu1->first_lidar_time_ = first_lidar_time_; flg_first_scan_ = false; continue; } p_imu1->Process(Measures, kf, feats_undistort); // UndistortPcl(meas, kf_state, *cur_pcl_un_); // 如果feats_undistort为空 ROS_WARN if (feats_undistort->empty() || (feats_...
· ROS (melodic or noetic) · glog: sudo apt-get install libgoogle-glog-dev · Eigen: sudo apt-get install libeigen3-dev · pcl: sudo apt-get install libpcl-dev · yaml-cpp: sudo apt-get install libyaml-cpp-dev 2. 更新g++编译器到9.0 ...
ROS (melodic or noetic) glog:sudo apt-get install libgoogle-glog-dev eigen:sudo apt-get install libeigen3-dev pcl:sudo apt-get install libpcl-dev yaml-cpp:sudo apt-get install libyaml-cpp-dev Compile FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile...
2. 流形的定义 原文中如图这样定义: 下面就是流形的计算公式,其中 代表了域, 代表了罗德里格斯公式: , 是将李群转为李代数数据 在矩阵中的运算如下图 根据上面的定义,很容易验证: 3. FAST-LIO2 对于FAST-LIO2而言,相较于FAST-LIO,做了如下改进: ...
ROS (melodic or noetic) glog:sudo apt-get install libgoogle-glog-dev eigen:sudo apt-get install libeigen3-dev pcl:sudo apt-get install libpcl-dev yaml-cpp:sudo apt-get install libyaml-cpp-dev Compile FasterLIO can be compiled by plain cmake or catkin_make. In Ubuntu 20.04, the compile...
FasterLIO can be called like a plain binary program. It can run in offline mode or online mode like any ros program. Offline mode Call run_mapping_offline with parameters to specify the bag file and the config file like: ./build/devel/lib/faster_lio/run_mapping_offline --bag_file your...