ubuntu18.04搭建SC-A-LOAM环境并运行

介绍： 本文主要记录在ubuntu1804系统下搭建SC-A-LOAM环境，然后借助数据集进行运行，对环境搭建和运行过程出现的问题和解决思路进行记录和总结，其中对于各个步骤中的路径需要自己进行调整。

1搭建A-LOAM环境

1. 安装ROS
   安装ubuntu1804对应的版本
2. 安装Ceres Solver
   官网链接：http://ceres-solver.org/installation.html

# 下载ceres安装包
# google-glog + gflags
sudo apt-get install libgoogle-glog-dev libgflags-dev
# Use ATLAS for BLAS & LAPACK
sudo apt-get install libatlas-base-dev
# Eigen3
sudo apt-get install libeigen3-dev
# SuiteSparse and CXSparse (optional)
sudo apt-get install libsuitesparse-dev
tar zxf ceres-solver-2.1.0.tar.gz
mkdir ceres-bin
cd ceres-bin
cmake ../ceres-solver-2.1.0
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
# 最后一步将make install 改为 sudo make install
sudo make install

3. 安装pcl

sudo apt install libpcl-dev

4. 安装gtsam
   参考链接：https://blog.csdn.net/qq_41690864/article/details/118711743

wget -O ~/Downloads/gtsam.zip https://ghproxy.com/https://github.com/borglab/gtsam/archive/4.0.2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.2/
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j8

2 编译SC-A-LOAM

参考链接：https://github.com/gisbi-kim/SC-A-LOAM

mkdir -p ~/catkin_scaloam_ws/src
cd ~/catkin_scaloam_ws/src
git clone https://github.com/gisbi-kim/SC-A-LOAM.git
cd ../
catkin_make
source ~/catkin_scaloam_ws/devel/setup.bash
roslaunch aloam_velodyne aloam_mulran.launch # for MulRan dataset setting 

3 运行SC-A-LOAM

3.1播放bag包运行

roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag

3.2运行报错

1. 报错提示找不到动态库libmetis.so
   
   解决办法：

sudo cp /usr/local/lib/libmetis.so /usr/lib

2. rm: cannot remove '/Scans/': No such file or directory,mkdir: cannot create directory ‘/Scans/’: Permission denied
   
   解决办法：在aloam_velodyne_VLP_16.launch加一行路径信息，自己创建一下相应的目录，或者直接运行程序，让系统自动生成，然后重新运行一下
   

3.3运行结果