VANJEE 720 Lego-Loam compilation

1、Installation Environment

ROS(ubuntu 18.04 melodic)

Gtsam(Georgia Tech Smoothing and Mapping library, 4.0.0-alpha2)

wget -O ~/Downloads/gtsam.zip https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip
cd ~/Downloads/ && unzip gtsam.zip -d ~/Downloads/
cd ~/Downloads/gtsam-4.0.0-alpha2/
mkdir build && cd build
cmake ..
sudo make install

Pcap(sudo apt-get install libpcap-dev)

2、Source code path

LeGO-LOAM：

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src/LeGO-LOAM

Vanjee 720 16-line radar driver：

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src/vanjee_lidar_720

3、compilation

Here we take Jetson nano as an example. The installation environment is ubuntu 18.04 and the ROS version is melodic.

You can remotely log in to the Jetson nano motherboard through the shell tool. Regarding the use of the shell tool, everyone will use it by default.

Enter the command in the terminal：

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mkdir lego_loam_ws && cd lego_loam_ws

Place the entire src folder under the lego_loam_ws folder on the jetson nano motherboard.

Enter the command in the terminal：

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catkin build

Note: The catkin build command is executed under the ~/lego_loam_ws/ directory.

Note: The following error occurs during compilation

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lio_sam/lio_sam_imuPreintegration: error while loading shared libraries: libmetis.so: cannot open shared object file: No such file or directory

Then enter the command in the terminal

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sudo apt-get install libparmetis-dev

The picture below shows the result of compilation.

Install some necessary toolkits：

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sudo apt-get install ros-melodic-octomap-ros
sudo apt-get install ros-melodic-octomap-server
sudo apt-get install ros-melodic-octomap-rviz-plugins
sudo apt-get install octovis
sudo apt-get install pcl-tools
sudo apt-get install libasio-dev
sudo apt-get install ros-melodic-serial