Note

• data // two pcd files will be used in other codes
• dotcloud_cali // the code used to match point cloud data
• LIO_home // main homework to finish, a LIO system, the main work to be done is in front_end.cpp

Environment

• Ubuntu 20.04
• ROS noetic(Recommonded Full Destop Version)
• PCL (Default Version with ROS)
• Eigen (Default Version with ROS)
• Glog ()

Build

For Pc_Match

cd ~/dotcloud_cali/
mkdir build
cd build/
cmake ..
make
./optimized_icp

For LIO_home

cd ~/LIO_home/lio_icp/
catkin_make
source devel/setup.bash

Usage

in Terminal 1:

roscore

in Terminal 2:

source ./devel/setup.bash roslaunch lio_ndt front_end.launch

in Terminal 3:

source ./devel/setup.bash rosbag play --clock --pause data.bag