r2live相关论文、代码中文注释以及代码改动
https://github.com/hku-mars/r2live
- Ubuntu(测试了Ubuntu16.04.5、Ubuntu18.04)
- ROS (测试了kinetic、melodic)
- Ceres Solver(测试ceres-solver-1.14.0)
- Eigen(测试了Eigen3.3.4)
- livox_ros_driver
- 下载源码 git clone https://github.com/MeiyuanXiang/r2live_MeiyuanXiang.git
- 将r2live_MeiyuanXiang\src下的r2live拷贝到ros工程空间src文件夹内,例如~/catkin_ws/src/
- cd ~/catkin_ws
- catkin_make
- source ~/catkin_ws/devel/setup.bash
https://drive.google.com/drive/folders/1LpoX6_05Zic-mRLOD38EO0w2ABXI1rrW harbor.bag、hku_main_building.bag和indoor_aggressive.bag
roslaunch r2live demo.launch
rosbag play harbor.bag