LIO-SAM

For details, see the original repository

Dependency

• ROS

  sudo apt-get install -y ros-noetic-navigation
  sudo apt-get install -y ros-noetic-robot-localization
  sudo apt-get install -y ros-noetic-robot-state-publisher

• gtsam

  sudo add-apt-repository ppa:borglab/gtsam-release-4.2
  sudo apt-get update
  sudo apt-get install libgtsam-dev libgtsam-unstable-dev

Install

Use the following commands to download and compile the package:

cd ~/catkin_ws/src
git clone https://github.com/adthoms/LIO-SAM
cd ..
catkin build

Run the package

1. Run the launch file:

roslaunch lio_sam run.launch

2. Play existing bag files:

rosbag play your_bag.bag --pause

Service

Save map as a PCD file via:

rosservice call [service] [resolution] [destination]

Example:

rosservice call /lio_sam/save_map 0.2 "/Downloads/LOAM/"