Welcome to WLR722 LiDAR repository

Compile Lego Loam Algorithm

This algorithm has been successfully compiled and run on the Orin-Nano motherboard. Orin-Nano motherboard system environment: Ubuntu22.04+ROS2-Humble.

Installing Dependencies

Enter the following in the terminal,

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

Transplanting and Compiling the Package

Place the LeGO-LOAM-ROS2 folder from the [Lego-Loam Source Code] in the [Attachments] folder into the src directory of your workspace, then go back to the workspace and enter the following command to compile,

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colcon build

It will compile two packages: one is cloud_msg and the other is lego_loam_sr (the core mapping package).