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运行:
source ~/code/diver/ws_livox/devel/setup.bash
source ./devel/setup.bash
运行数据集:
roslaunch fast_livo mapping_avia.launch
roslaunch fast_livo mapping_avia_ntu.launch
rosbag play YOUR_DOWNLOADED.bag
修改参数:cam_d0到cam_d3是相机畸变参数
报错:
1、对'Sophus::SE3::xxx'未定义的引用
解决办法:在rpg_vikit/vikit_common的CmakeLists.txt里添加SET(Sophus_LIBRARIES libSophus.so)
2、error:缺少point6D.h这个文件
解决办法:将livox驱动的/setup.bash路径设置到全局环境中,即
终端输入
sudo gedit ~/.bashrc
在文章最后面加上livox_ros_driver_ws的setup.bash的位置(我把它放code里了),即
livox_ros_driver_ws的setup.bash
3、fatal error: fast_livo/States.h: 没有那个文件或目录
解决办法:注释掉
4、error: invalid conversion from ‘const char*’ to ‘int’ [-fpermissive]
omp_set_num_threads(MP_PROC_NUM);
解决办法:好像是将它换成数字(我好像是写的2)就行了
5、roslaunch出错:republish-4] process has died
解决办法:sudo apt install ros-melodic-image-transport-plugins
6、roslaunch fast_livo mapping_avia.launch时报错:
laserMapping-1] process has died
解决办法:同5
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