LIO_SAM怎么保存地图_lio-sam运行的地图该怎么保存

1.修改config/params.yaml文件

# Export settings
  savePCD: true                              # https://github.com/TixiaoShan/LIO-SAM/issues/3
  savePCDDirectory: "/open_slam/lidar/lio_sam/workspace/src/LIO-SAM/map"        # in your home folder, starts and ends with "/". Warning: the code deletes "LOAM" folder then recreates it. See "mapOptimization" for implementation
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2.更改_TIMEOUT_SIGINT参数

保存地图会花费一些时间，如果_TIMEOUT_SIGINT太小，很可能造成地图还未保存，节点就已经关闭了，所以需要适当调高_TIMEOUT_SIGINT值)，具体方法如下

sudo gedit /opt/ros/melodic/lib/python2.7/dist-packages/roslaunch/nodeprocess.py
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默认15s，我的参考值60s.

3.保存地图