ROS1 Noetic

Environment setup

• Ubuntu 20.04 Focal Fossa iso | wsl
• ROS1 Noetic install (install till 1.4 and follow the below commands)

Dependencies installation

1. ROS Noetic

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

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

2. GTSAM

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev

3. Make a working directory ROS/src

mkdir -p ROS/src
cd ROS/src/

4. Clone LIO-SAM repo

git clone https://github.com/TixiaoShan/LIO-SAM.git
cd ..

5. Noetic build error fix!!!

• Configure the utility.h (src\LIO-SAM\include\utility.h)
  • #include <opencv/cv.h> change to --> #include <opencv2/opencv.hpp>
  • move #include <opencv2/opencv.hpp> after the pcl headers.
• Configure CMakeLists.txt (src\LIO-SAM\CMakeLists.txt)
  • set(CMAKE_CXX_FLAGS "-std=c++11") change to --> set(CMAKE_CXX_FLAGS "-std=c++14")

6. Build

catkin_make -j2

Running Dataset

Sample dataset from LIO-SAM

• Walking dataset: [Google Drive]
• Park dataset: [Google Drive]
• Garden dataset: [Google Drive]

1. Run the launch file:

source /home/atom-focal/ROS/devel/setup.bash

roslaunch lio_sam run.launch

2. Play existing bag files:

rosbag play park_dataset.bag -r 3