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.tx
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_...
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...
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...
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 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...
Launch faster-lio:roslaunch faster_lio mapping_avia.launchThis will give you a rviz window. Play the bags usingrosbag play your bag fileto see the online outputs. Acknowledgements We thank the authors ofFastLIO2, LOAM for their great jobs. ...
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...