Welcome to WLR722 LiDAR repository

1. Compile Lio Sam Algorithm

Compile Lio Sam 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


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# Replace <ros2-version> here with your ros2 version, humble is recommended.
sudo apt install ros-<ros2-version>-perception-pcl \
           ros-<ros2-version>-pcl-msgs \
           ros-<ros2-version>-vision-opencv \
           ros-<ros2-version>-xacro
sudo add-apt-repository ppa:borglab/gtsam-release-4.1
sudo apt install libgtsam-dev libgtsam-unstable-dev

Transplanting and Compiling the Package

Place the LIO-SAM-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,


colcon build

Lego Loam Algorithm Mapping

Lio Sam Algorithm Mapping