LIO-SAM：Ubuntu20.04 下的编译与运行及错误解决（全）

一、安装GTSAM
GTSAM的依赖库安装可以参考
https://blog.csdn.net/qq_39607707/article/details/123951237

cd ~/下载
git clone https://github.com/borglab/gtsam.git
cd gtsam
mkdir build && cd build
cmake -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF ..
sudo make install -j8

二、编译安装liosam 遇到问题转到第四步

cd ~ #默认目录
mkdir -p ~/catkin_liosam_ws/src
cd ~/catkin_liosam_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..
catkin_make

三、运行数据集
参考 https://blog.csdn.net/unlimitedai/article/details/107378759#t1

cd ~/catkin_liosam_ws
source devel/setup.bash
roslaunch lio_sam run.launch
rosbag play your-bag.bag 

四、可能遇到的为问题
参考 https://blog.csdn.net/weixin_44156680/article/details/118070387

补充：[lio_sam_imuPreintegration-2] process has died 问题如下图：
解决办法

sudo apt-get install libparmetis-dev