jetson nx部署lego-loam

1、依赖

1）Boot >= 1.43 (sudo apt-get install libboot-all-dev);
2）CMake >= 3.0 (sudo apt-get install cmake);
3）gcc>=4.7.3;
4）Tbb (sudo apt-get install libtbb-dev);
5）Pcl (ubuntu18.04自带1.8，sudo apt-get install libpcl-dev)

2、gtsam安装

1）git clone https://bitbucket.org/gtborg/gtsam.git
2）cd ~/gtsam
3）mkdir build && cd build
4）cmake …
5）sudo make install

3、Lego-loam编译

1）mkdir -p ~/lego-loam/src
2）cd ~/lego-loam/src
3）git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
4）cd …
5）catkin_make -j4
6）source devel/setup.bash

4、运行

1）roslaunch lego_loam run.launch
2）rosbag play nsh_indoor_outdoor.bag(*.bag) --clock --topic /velodyne_points /imu/data

5、保存地图和路径

1)保存地图：rosrun pcl_ros pointcloud_to_pcd input:=/laser_cloud_surround prefix:=hide

2)保存轨迹：rosrun pcl_ros pointcloud_to_pcd input:=/key_pose_origin prefix:=hide