Husky-LIO-SAM (Melodic - Go to Noetic version)
This package is an implementation of the LIO-SAM on Husky UGV in a simulation environment.
sudo apt-get install -y ros-melodic-navigation
sudo apt-get install -y ros-melodic-robot-localization
sudo apt-get install -y ros-melodic-robot-state-publisher
sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev
sudo apt-get install ros-melodic-velodyne-*
Then install the Husky packages (for more information visit HUSKY):
sudo apt-get install ros-melodic-husky-*
export HUSKY_GAZEBO_DESCRIPTION=$(rospack find husky_gazebo)/urdf/description.gazebo.xacro
mkdir -p catkin_ws_HUSKY_LIO_SAM
cd ~/catkin_ws_HUSKY_LIO_SAM
git clone -b Melodic https://github.com/FarzadAziziZade/Husky-LIO-SAM.git
mv Husky-LIO-SAM src
catkin_make
- download the DAE file
- put the file in (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include)
- go to (catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds)
- open (clearpath_playpen.world) with a texteditor
- find two lines including (/home/{USERNAME}/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/husky_gazebo/worlds/include/minefourthv7withCforGAZEBOO.dae)
- replace the {USERNAME} with your own username
- save the file and close it
- Follow these commands:
sudo cp -r ~/catkin_ws_HUSKY_LIO_SAM/src/H-LIO-SAM/husky/ /opt/ros/melodic/share
- source devel/setup.bash
- roslaunch lio_sam hrun.launch
- roslaunch lio_sam run.launch
- roslaunch lio_sam mrun.launch
- source devel/setup.bash
- roslaunch lio_sam hrun.launch
- roslaunch lio_sam mrun_wrviz.launch