LeGO-LOAM 编译安装

编译运行LeGO-LOAM

博主环境：ubutu18.04+ros:melodic+pcl:1.8+gtsam+metis

1.安装：gtsam

git clone https://bitbucket.org/gtborg/gtsam.git

编译安装：

make build
cd build
make ..
sudo make install

2.安装：metis

sudo apt-get install libmetis-dev

3.LeGO-LOAM编译安装：

新建工作空间

mkdir -p catkin_ws/src
cd catkin_ws/src

下载源码

git clone https://gitee.com/Yeah2333/LeGO-LOAM.git

编译

cd catkin_ws
catkin_make -j1

source

source devel/setup.bash

运行

roslaunch lego_loam run.launch

rosbag play *.bag --clock --topic /velodyne_points /imu/data

参考：
https://github.com/RobustFieldAutonomyLab/LeGO-LOAM
https://blog.csdn.net/qq_36396941/article/details/83513121