针对ROS2GO系统下的ubuntu20.04的简单修改
- [gtsam-4.0.3]
git clone -b 4.0.3 https://github.com/borglab/gtsam.git
cd gtsam
mkdir build & cd build
cmake ..
sudo make install
cd ~/catkin_ws/src
git clone https://github.com/geekhub330/LIO-SAM-ROS2GO.git
cd ..
catkin_make
- Run the launch file:
roslaunch lio_sam run.launch
- Play existing bag files:
rosbag play bagname.bag --clock