LIO-SAM 在 ubuntu16.04 和 ubuntu18.04 编译都不麻烦。

但是最近配置的工控机是 ubuntu20.04 的 安装的ROS版本的是noetic，在编译LIO-SAM中遇到了很多问题，在此记录并发布出来。

eigen3的问题

在usr/local/include 中找不到 eigen3 ，因为它在 usr/include中，将其复制下

opencv 的问题

In file included from /home/jone/jone_ws/src/LIO-SAM/src/featureExtraction.cpp:1:
/home/jone/jone_ws/src/LIO-SAM/include/utility.h:18:10: fatal error: opencv/cv.h: 没有那个文件或目录
   18 | #include <opencv/cv.h>
      |          ^~~~~~~~~~~~~
In file included from /home/jone/jone_ws/src/LIO-SAM/src/mapOptmization.cpp:1:
/home/jone/jone_ws/src/LIO-SAM/include/utility.h:18:10: fatal error: opencv/cv.h: 没有那个文件或目录
   18 | #include <opencv/cv.h>
      |          ^~~~~~~~~~~~~
In file included from /home/jone/jone_ws/src/LIO-SAM/src/imuPreintegration.cpp:1:
/home/jone/jone_ws/src/LIO-SAM/include/utility.h:18:10: fatal error: opencv/cv.h: 没有那个文件或目录
   18 | #include <opencv/cv.h>
      |          ^~~~~~~~~~~~~
In file included from /home/jone/jone_ws/src/LIO-SAM/src/imageProjection.cpp:1:
/home/jone/jone_ws/src/LIO-SAM/include/utility.h:18:10: fatal error: opencv/cv.h: 没有那个文件或目录
   18 | #include <opencv/cv.h>
      |          ^~~~~~~~~~~~~
compilation terminated.
compilation terminated.
compilation terminated.
compilation terminated.

由于 20.04 自带的是OpenCV4，所以要对 LIO-SAM 代码做一点改动

在 utility.h 中的

#include<opencv/cv.h>

改为

#include<opencv2/imgproc.hpp>

pcl的问题

pcl的问题主要是需要 C++14的编译
这里修改 lio-sam 的编译配置就行 ，打开 liosam的CMakeLists.txt:

将第5行的

set(CMAKE_CXX_FLAGS "-std=c++11")

改为

set(CMAKE_CXX_FLAGS "-std=c++14")

运行时的问题

process[lio_sam_mapOptmization-5]: started with pid [10295]
/home/jone/jone_ws/devel/lib/lio_sam/lio_sam_mapOptmization: error while loading shared libraries: libmetis.so: cannot open shared object file: No such file or directory
[lio_sam_imuPreintegration-2] process has died [pid 10294, exit code 127, cmd /home/jone/jone_ws/devel/lib/lio_sam/lio_sam_imuPreintegration __name:=lio_sam_imuPreintegration __log:=/home/jone/.ros/log/26ccf03a-2997-11ed-8e43-49590f7f8a53/lio_sam_imuPreintegration-2.log].
log file: /home/jone/.ros/log/26ccf03a-2997-11ed-8e43-49590f7f8a53/lio_sam_imuPreintegration-2*.log
[lio_sam_mapOptmization-5] process has died [pid 10295, exit code 127, cmd /home/jone/jone_ws/devel/lib/lio_sam/lio_sam_mapOptmization __name:=lio_sam_mapOptmization __log:=/home/jone/.ros/log/26ccf03a-2997-11ed-8e43-49590f7f8a53/lio_sam_mapOptmization-5.log].
log file: /home/jone/.ros/log/26ccf03a-2997-11ed-8e43-49590f7f8a53/lio_sam_mapOptmization-5*.log

报错找不到 libmetis.so 这个文件

这个和 gtsam 编译时候的 方法有关

实际问题是库文件libmetis.so 的位置。它是一个运行时库，但是当应用程序查找它时，它的位置不在预期的目录中。在通过运行命令sudo make install -j8安装库gtsam 时，文件libmetis.so安装在/usr/local/lib/的默认位置，但是当我们启动 ros 工作区时，运行时库查看位置/opt/ros/noetic/lib/

cd /usr/local/lib/
sudo cp libmetis.so /opt/ros/noetic/lib/

可以解决这个问题

再次运行

ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: robot_localization
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/jone/jone_ws/src
ROS path [2]=/opt/ros/noetic/share
ERROR: cannot launch node of type [robot_localization/navsat_transform_node]: robot_localization
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/jone/jone_ws/src
ROS path [2]=/opt/ros/noetic/share

这个错位是少了 robot_localization 这个功能包

sudo apt-get install ros-noetic-fake-localization
sudo apt-get install ros-noetic-robot-localization

终于成功运行

将imu与雷达的外参进行配置

  #extrinsicRot: [-1, 0, 0,
  #                0, 1, 0,
  #                0, 0, -1]
  #extrinsicRPY: [0, -1, 0,
  #               1, 0, 0,
  #               0, 0, 1]

  extrinsicRot: [0.999014, -0.0354845, 0.0266871,
                 0.035815, 0.999286, -0.0120079,
                 -0.026242, 0.0129519, 0.999572]
  extrinsicRPY: [0.999014, -0.0354845, 0.0266871,
                 0.035815, 0.999286, -0.0120079,
                 -0.026242, 0.0129519, 0.999572]

  pointCloudTopic: "/velodyne_points"               # Point cloud data
  imuTopic: "/imu"                         # IMU data

result