A-LOAM的安装运行及问题解决

前面完成了LOAM的安装和运行,这里安装A-LOAM感觉方便了许多,十几分钟就完成了,这里总结一下安装步骤,基本和LOAM的安装一样,包括各指令,以及遇到的问题如何解决的。

https://blog.csdn.net/weixin_43846627/article/details/112003919

感谢以下博主文章提供的帮助:
1.拷贝A-LOAM文件
首先进入自己电脑配置的ROS包下,也就是catkin_ws/src,执行git指令:

git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git

然后回到catkin_ws文件下,开始进行安装:

catkin_make

此时提示cmake错误:

CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:100 (message):
  This workspace contains non-catkin packages in it, and catkin cannot build
  a non-homogeneous workspace without isolation.  Try the
  'catkin_make_isolated' command instead.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)

按照提示,执行catkin_make_isolated此时编译生成的可执行文件,在devel_isolated文件内。

2.将devel_isolated/aloam_velodyne/lib内的可执行文件,拷贝到catkin_ws/src/A-LOAM/src中

A-LOAM的安装运行及问题解决_第1张图片

 如果不执行2,直接运行会提示:

ERROR: cannot launch node of type [aloam_velodyne/ascanRegistration]: can't locate node [ascanRegistration] in package [aloam_velodyne]
ERROR: cannot launch node of type [aloam_velodyne/alaserOdometry]: can't locate node [alaserOdometry] in package [aloam_velodyne]
ERROR: cannot launch node of type [aloam_velodyne/alaserMapping]: can't locate node [alaserMapping] in package [aloam_velodyne]

3.运行bag包(两种方式都可以,我的bag包就在catkin_ws目录下)

* 在catkin_ws下,进入终端,输入:

source devel/setup.bash

 然后打开aloam16线激光,输入:

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch

 再在catkin_ws下,打开个终端,输入:

rosbag play nsh_indoor_outdoor.bag

** 在桌面进入终端,输入:

source ~/catkin_ws/devel/setup.bash

然后输入:

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch

再在桌面打开个终端,输入:

rosbag play /home/yangyuhang/catkin_ws//nsh_indoor_outdoor.bag(bag包地址)

两种方式主要区别在于,打开setup.bash和bag包的方式,只要是rosbag play后面加入bag包的实际地址,就可以执行。

运行结果如下图:

A-LOAM的安装运行及问题解决_第2张图片

写在最后:新人小白,如有问题还请见谅;

                   整理不易,觉得有帮助的可以点个赞啥的,感谢!!!

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