在ubuntu18.04上安装以及运行Faster-lio

Faster_lio是今年高博在fast_lio上改进的开源SLAM，使得SLAM的效率更高，代码地址为：Faster—LIO；高博的介绍为：Faster-LIO：快速激光IMU里程计。论文地址为：Faster-LIO：快速激光IMU里程计PDF。
具体的安装步骤：

1. 安装依赖：

· ROS (melodic or noetic)

· glog: sudo apt-get install libgoogle-glog-dev

· Eigen: sudo apt-get install libeigen3-dev

· pcl: sudo apt-get install libpcl-dev

· yaml-cpp: sudo apt-get install libyaml-cpp-dev

2. 更新g++编译器到9.0

解决的问题：

/home/test/LIVOX/FASTER_LIO/catkin_ws/src/faster-lio/src/laser_mapping.cc:3:10: fatal error: execution: 没有那个文件或目录
 #include 

· sudo add-apt-repository ppa:ubuntu-toolchain-r/test

· sudo apt update

· sudo apt install gcc-9//注意gcc和g++都是9.0以上的版本 进行编译

· sudo apt install g++-9  //github上缺少这一步，一直报错，用g++ --version 查看才知道没有

· cd /usr/bin

· sudo rm gcc g++

· sudo ln -s gcc-9 gcc

· sudo ln -s g++-9 g++ 

3. 源码编译tbb库

解决的问题：

In file included from /usr/include/c++/9/pstl/parallel_backend.h:14,
                 from /usr/include/c++/9/pstl/algorithm_impl.h:25,
                 from /usr/include/c++/9/pstl/glue_execution_defs.h:52,
                 from /usr/include/c++/9/execution:32,
                 from /home/test/LIVOX/FASTER_LIO/catkin_ws/src/faster-lio/src/laser_mapping.cc:3:
/usr/include/c++/9/pstl/parallel_backend_tbb.h:28:2: error: #error Intel(R) Threading Building Blocks 2018 is required; older versions are not supported.
   28 | #error Intel(R) Threading Building Blocks 2018 is required; older versions are not supported.
      |  ^~~~~
In file included from /usr/include/c++/9/pstl/parallel_backend.h:14,
                 from /usr/include/c++/9/pstl/algorithm_impl.h:25,
                 from /usr/include/c++/9/pstl/glue_execution_defs.h:52,
                 from /usr/include/c++/9/execution:32,
                 from /home/test/LIVOX/FASTER_LIO/catkin_ws/src/faster-lio/src/laser_mapping.cc:3:
/usr/include/c++/9/pstl/parallel_backend_tbb.h: In function ‘void __pstl::__par_backend::__parallel_for(_ExecutionPolicy&&, _Index, _Index, _Fp)’:
/usr/include/c++/9/pstl/parallel_backend_tbb.h:99:27: error: ‘isolate’ is not a member of ‘tbb::this_task_arena’
   99 |     tbb::this_task_arena::isolate([=]() {
      |                           ^~~~~~~
/usr/include/c++/9/pstl/parallel_backend_tbb.h: In function ‘_Value __pstl::__par_backend::__parallel_reduce(_ExecutionPolicy&&, _Index, _Index, const _Value&, const _RealBody&, const _Reduction&)’:
/usr/include/c++/9/pstl/parallel_backend_tbb.h:111:34: error: ‘isolate’ is not a member of ‘tbb::this_task_arena’

参考：linux tbb 安装_Ubuntu18.04 GCC9 安装

·下载tbb，并cd 到目录

wget https://github.com/intel/tbb/archive/2019_U8.tar.gz

tar zxvf 2019_U8.tar.gz

rm 2019_U8.tar.gz

cd tbb-2019_U8

· 编辑linux.gcc-9.inc

cp build/linux.gcc.inc build/linux.gcc-9.inc

# 使用vscode 编辑文件

code -n build/linux.gcc-9.inc

# 把大约是15,16行的CPLUS ?= g++　CONLY ?= gcc修改为下面语句，然后保存

CPLUS ?= g++-9

CONLY ?= gcc-9

· 编译tbb

make compiler=gcc-9 stdver=c++17 tbb_build_prefix=my_tbb_build

·安装tbb

sudo mkdir /usr/local/tbb-2019_U8

sudo cp -r include /usr/local/tbb-2019_U8/include

sudo ln -s /usr/local/tbb-2019_U8/include/tbb /usr/local/include/tbb

sudo cp -r build/my_tbb_build_release /usr/local/tbb-2019_U8/lib

sudo ln -s /usr/local/tbb-2019_U8/lib/libtbb.so.2 /usr/local/lib/libtbb.so

sudo ln -s /usr/local/tbb-2019_U8/lib/libtbbmalloc.so.2 /usr/local/lib/libtbbmalloc.so

sudo ln -s /usr/local/tbb-2019_U8/lib/libtbbmalloc_proxy.so.2      /usr/local/lib/libtbbmalloc_proxy.so

echo 'export LD_LIBRARY_PATH=/usr/local/tbb-2019_U8/lib:$LD_LIBRARY_PATH'  >>      ~/.bashrc

source ~/.bashrc

4. 使用cmake编译

mkdir build

cd build

cmake .. -DCMAKE_BUILD_TYPE=Release

make -j4   //注意线程，改为自己的

注意：iVoxel类型需要在编译时指定，默认时现行的iVoxel，若需要变成iVoxel-PHC，需要执行下面指令：

cmake .. -DWITH_IVOX_NODE_TYPE_PHC=ON

5. 使用catkin_make编译

· 更改src中的CmakeList.txt文件，将target_link_libraries中的tbb更改为具体的库路径，更改后如下，注意对比新增的代码（很重要）
解决的问题

/bin/sh: 1: /usr/bin/c++: not found
/bin/sh: 1: /usr/bin/c++: not found
src/CMakeFiles/faster_lio.dir/build.make:86: recipe for target 'src/CMakeFiles/faster_lio.dir/pointcloud_preprocess.cc.o' failed
make[2]: *** [src/CMakeFiles/faster_lio.dir/pointcloud_preprocess.cc.o] Error 127
make[2]: *** 正在等待未完成的任务....
src/CMakeFiles/faster_lio.dir/build.make:62: recipe for target 'src/CMakeFiles/faster_lio.dir/laser_mapping.cc.o' failed
make[2]: *** [src/CMakeFiles/faster_lio.dir/laser_mapping.cc.o] Error 127
CMakeFiles/Makefile2:3982: recipe for target 'src/CMakeFiles/faster_lio.dir/all' failed
make[1]: *** [src/CMakeFiles/faster_lio.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

   target_link_libraries(${PROJECT_NAME}
   
    ${catkin_LIBRARIES}

    ${PCL_LIBRARIES}

    ${PYTHON_LIBRARIES}

    /usr/local/lib/libtbb.so

    /usr/local/lib/libtbbmalloc.so

    /usr/local/lib/libtbbmalloc_proxy.so

    glog

    yaml-cpp

    )

· 将代码放入工作空间内的src目录下，使用正常的包的编译方法编辑即可；

6. 运行分为在线和离线

离线：

调用离线建图，用参数指定bag和配置文件：

固态雷达，也就是avia：

./build/devel/lib/faster_lio/run_mapping_offline --bag_file your_avia_bag_file --config_file ./config/avia.yaml

对于NCLT，机械雷达, 运行:

./build/devel/lib/faster_lio/run_mapping_offline --bag_file your_nclt_bag_file --config_file ./config/velodyne.yaml，注意下面更改的部分，其他的部分是无所谓的部分

common:
  dataset: "nclt"
  lid_topic: "/points_raw"   #注意更改激光雷达话题
  imu_topic: "/imu_correct" #注意更改IMU话题
  time_sync_en: true         # ONLY turn on when external time synchronization is really not possible，确定无法使用外部标定时启用

preprocess:
  lidar_type: 2                # 1 for Livox serials LiDAR, 2 for Velodyne LiDAR, 3 for ouster LiDAR,注意更改激光雷达类型
  scan_line: 16              #注意更改激光雷达线
  blind: 4
  time_scale: 1e-3             # 兼容不同数据集的时间单位，仅对Velodyne LiDAR(lidar_type=2)生效

mapping:
  acc_cov: 0.1
  gyr_cov: 0.1
  b_acc_cov: 0.0001
  b_gyr_cov: 0.0001
  fov_degree: 180
  det_range: 100.0
  extrinsic_est_en: true      # true: enable the online estimation of IMU-LiDAR extrinsic
  extrinsic_T: [ 0, 0, 0.28 ]
  extrinsic_R: [ 1, 0, 0,
                 0, 1, 0,
                 0, 0, 1 ]

publish:
  path_publish_en: false
  scan_publish_en: true       # false: close all the point cloud output
  scan_effect_pub_en: true    # true: publish the pointscloud of effect point
  dense_publish_en: false       # false: low down the points number in a global-frame point clouds scan.
  scan_bodyframe_pub_en: true  # true: output the point cloud scans in IMU-body-frame

path_save_en: true                 # 保存轨迹，用于精度计算和比较

pcd_save:
  pcd_save_en: true
  interval: -1                 # how many LiDAR frames saved in each pcd file;
  # -1 : all frames will be saved in ONE pcd file, may lead to memory crash when having too much frames.

feature_extract_enable: false
point_filter_num: 6
max_iteration: 3
filter_size_surf: 0.5
filter_size_map: 0.5
cube_side_length: 1000

ivox_grid_resolution: 0.5        # default=0.2
ivox_nearby_type: 18             # 6, 18, 26
esti_plane_threshold: 0.1        # default=0.1

在线：

roslaunch faster_lio mapping_avia.launch#固态

rosbag play your bag file 

最后运行成功：

7.遇到的问题:

1. #include，无法找到excutetion文件

/home/test/LIVOX/FASTER_LIO/catkin_ws/src/faster-lio/src/laser_mapping.cc:3:10: fatal error: execution: 没有那个文件或目录
 #include 

此问题时std库在c++17的新特性，g++9.0以上版本支持此库，所以确定gcc-9和g+±9已经正确安装，可以解决此问题；

如果已经正确安装，在终端ls列表中g++和gcc时蓝色的，表示已经正确链接，如果时红色的，表示未成功链接；

通过g++ --version和gcc --version查看当前系统的gcc和g++的版本是否大于等于9.0;

2. 无法找到tbb对应头文件

此问题是无法正确的include tbb对饮搞定头文件，无论是cmake还是catkin_make编译，此时按照上述说明中源码编译tbb即可；

In file included from /usr/include/c++/9/pstl/parallel_backend.h:14,
                 from /usr/include/c++/9/pstl/algorithm_impl.h:25,
                 from /usr/include/c++/9/pstl/glue_execution_defs.h:52,
                 from /usr/include/c++/9/execution:32,
                 from /home/test/LIVOX/FASTER_LIO/catkin_ws/src/faster-lio/src/laser_mapping.cc:3:
/usr/include/c++/9/pstl/parallel_backend_tbb.h:28:2: error: #error Intel(R) Threading Building Blocks 2018 is required; older versions are not supported.
   28 | #error Intel(R) Threading Building Blocks 2018 is required; older versions are not supported.
      |  ^~~~~
In file included from /usr/include/c++/9/pstl/parallel_backend.h:14,
                 from /usr/include/c++/9/pstl/algorithm_impl.h:25,
                 from /usr/include/c++/9/pstl/glue_execution_defs.h:52,
                 from /usr/include/c++/9/execution:32,
                 from /home/test/LIVOX/FASTER_LIO/catkin_ws/src/faster-lio/src/laser_mapping.cc:3:
/usr/include/c++/9/pstl/parallel_backend_tbb.h: In function ‘void __pstl::__par_backend::__parallel_for(_ExecutionPolicy&&, _Index, _Index, _Fp)’:
/usr/include/c++/9/pstl/parallel_backend_tbb.h:99:27: error: ‘isolate’ is not a member of ‘tbb::this_task_arena’
   99 |     tbb::this_task_arena::isolate([=]() {
      |                           ^~~~~~~
/usr/include/c++/9/pstl/parallel_backend_tbb.h: In function ‘_Value __pstl::__par_backend::__parallel_reduce(_ExecutionPolicy&&, _Index, _Index, const _Value&, const _RealBody&, const _Reduction&)’:
/usr/include/c++/9/pstl/parallel_backend_tbb.h:111:34: error: ‘isolate’ is not a member of ‘tbb::this_task_arena’

3. 上报tbb某个函数无法链接到
   报错：

/bin/sh: 1: /usr/bin/c++: not found
/bin/sh: 1: /usr/bin/c++: not found
src/CMakeFiles/faster_lio.dir/build.make:86: recipe for target 'src/CMakeFiles/faster_lio.dir/pointcloud_preprocess.cc.o' failed
make[2]: *** [src/CMakeFiles/faster_lio.dir/pointcloud_preprocess.cc.o] Error 127
make[2]: *** 正在等待未完成的任务....
src/CMakeFiles/faster_lio.dir/build.make:62: recipe for target 'src/CMakeFiles/faster_lio.dir/laser_mapping.cc.o' failed
make[2]: *** [src/CMakeFiles/faster_lio.dir/laser_mapping.cc.o] Error 127
CMakeFiles/Makefile2:3982: recipe for target 'src/CMakeFiles/faster_lio.dir/all' failed
make[1]: *** [src/CMakeFiles/faster_lio.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2

此问题是让系统自行寻找tbb库无法成功，所以此时需要手动在CmakeList.txt文件中给定库的路径即可，在上面的步骤里都有；

参考：

1.faster-lio代码
2.Faster-LIO：快速激光IMU里程计
3.Faster-lio在ubuntu18.04上安装以及运行
4.linux tbb 安装_Ubuntu18.04 GCC9 安装