Original repository: https://github.com/APRIL-ZJU/clins
cd clins/docker
./build.sh
roscore
rviz -d launch/odom.rviz
campus_small_dataset.bag: https://drive.google.com/drive/folders/1lMAXY_qN9BA1z_d0ntSBI80iow0FGpDv?usp=sharing
cd clins/docker
./run.sh -v /abs/path/to/campus_small_dataset.bag:/tmp/campus_small_dataset.bag
roslaunch clins clins_offline.launch config_name:=/config/lio-sam-bag.yaml