#####仅作为笔记 环境： ubuntu16.04
pcl-1.8.1 #https://github.com/PointCloudLibrary/pcl/releases下载对应版本zip #安装过程参考： #https://blog.csdn.net/lilywri823/article/details/86583269 cd pcl-pcl-1.8.1 mkdir build cd build cmake -DCMAKE_BUILD_TYPE=None -DBUILD_apps=ON -DBUILD_examples=ON .. make -j4 sudo make install gtsam wget -O ~/Downloads/gtsam.zip 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 .. make -j4 sudo make install ros依赖 sudo apt-get install -y ros-kinetic-navigation sudo apt-get install -y ros-kinetic-robot-localization sudo apt-get install -y ros-kinetic-robot-state-publisher lio-slam cd ~/catkin_ws/src git clone https://github.com/TixiaoShan/LIO-SAM.git cd .. catkin_make 测试 #数据集下载 # Walking dataset: https://drive.google.com/file/d/1HN5fYPXEHbDq0E5JtbQPkCHIHUoTFFnN/view?usp=sharing # Park dataset: https://drive.google.com/file/d/19PZieaJaVkXDs2ZromaHTxYoq0zkiHae/view?usp=sharing # Garden dataset: https://drive.google.com/file/d/1q6yuVhyJbkUBhut9yhfox2WdV4VZ9BZX/view?usp=sharing #更多内容参考：https://github.com/TixiaoShan/LIO-SAM roslaunch lio_sam run.launch rosbag play your-bag.bag -r 3 测试结果