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gisbi-kim / FAST_LIO_SLAM

LiDAR SLAM = FAST-LIO + Scan Context
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livox-horizon #3

Closed kxch928925819 closed 3 years ago

Lenotary commented 3 years ago

thank for you reply ☺

kxch928925819 commented 3 years ago

terminal 1: run FAST-LIO2

mkdir -p ~/catkin_fastlio_slam/src
cd ~/catkin_fastlio_slam/src
git clone https://github.com/gisbi-kim/FAST_LIO_SLAM.git
git clone https://github.com/Livox-SDK/livox_ros_driver
cd  /FAST_LIO_SLAM/FAST-LIO/
git submodule update --init
cd .. /..
cd ..
catkin_make
source devel/setup.bash
roslaunch fast_lio mapping_horizon.launch 

# open the other terminal tab: run SC-PGO
cd ~/catkin_fastlio_slam
source devel/setup.bash
roslaunch aloam_velodyne fastlio_ouster64.launch 

# open the other terminal tab
# rosbag play youfile.bag