ROS2 sudo apt install ros-<ros2-version>-perception-pcl \ ros-<ros2-version>-pcl-msgs \ ros-<ros2-version>-vision-opencv \ ros-<ros2-version>-xacro gtsam (Georgia Tech Smoothing and Mapping library) # Add GTSAM-PPA sudo add-apt-repository ppa:borglab/gtsam-release-4.1 sudo apt insta...
这里的路径要设置为ros2工作空间下spl_lio_sam编译出来的头文件"/path/to/ros2_ws/install/spl_lio_sam/include/spl_lio_sam"],"C_Cpp.files.exclude": {"**/.vscode": true,"**/.vs": true},"C_Cpp.default.cStandard": "c17","C_Cpp.default.cppStandard": "c++17","python.analysis.include...
cd ~/ros2_slam_3d_ws colcon build --symlink-install --packages-select LIO-SAM 测试: 如果使用ros1录制的包来测试,可以下载ros1bag hdl_400.bag 这个包需要安装ros2 bag的插件rosbag2_bag_v2进行转换,参考方法ros2入门教程-rosbag和ros2 bag 转换 新终端,启动lio_sam source /opt/ros/galactic/setup...
利用RCM安装lio_sam cs -s install_ros2_lio_sam_ws.sh 测试步骤 1.启动仿真 ros2 launch robot_gazebo robot_sim.launch.py gazebo效果图 2.启动键盘控制 ros2 run teleop_twist_keyboard teleop_twist_keyboard 3.启动lio sam ros2 launch lio_sam run.launch.py rviz效果图 移动小车实现建图,效果图 关...
There are some features of the original ROS1 version that are currently missing in this ROS2 version, namely: Testing with Velodyne & Livox lidars and Microstrain IMUs A launch file for the navsat module/GPS factor The rviz2 configuration misses many elements This branch was tested with Ouster...
exportDATA_DIR=/path/to/download/ros2bag/dir 本项目中默认的配置文件 params_default.yaml 可以直接运行下面的数据: park_dataset walking_dataset garden_dataset 环境部署gitclonegit@github.com:zeal-up/Simple-LIO-SAM.git cdSimple-LIO-SAM ./docker_run.sh -h# show help message ...
exportDATA_DIR=/path/to/download/ros2bag/dir 本项目中默认的配置文件params_default.yaml可以直接运行下面的数据: - park_dataset - walking_dataset - garden_dataset 环境部署 git clone git@github.com:zeal-up/Simple-LIO-SAM.gitcdSimple-LIO-SAM ...
exportDATA_DIR=/path/to/download/ros2bag/dir 本项目中默认的配置文件 params_default.yaml 可以直接运行下面的数据: park_dataset walking_dataset garden_dataset 环境部署gitclonegit@github.com:zeal-up/Simple-LIO-SAM.git cdSimple-LIO-SAM ./docker_run.sh -h# show help message ...
ROS2入门之基本介绍 固态激光雷达和相机系统的自动标定 激光雷达+GPS+IMU+轮速计的传感器融合定位方案 基于稀疏语义视觉特征的道路场景的建图与定位 自动驾驶中基于激光雷达的车辆道路和人行道实时检测(代码开源) 用于三维点云语义分割的标注工具和城市数据集
This is the original ROS1 implementation of LIO-SAM. For a ROS2 implementation see branchros2. ROS(tested with Kinetic and Melodic. Refer to#206for Noetic) sudo apt-get install -y ros-kinetic-navigation sudo apt-get install -y ros-kinetic-robot-localization ...