一、源码地址：

GitHub - RobustFieldAutonomyLab/LeGO-LOAM: LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable TerrainLeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain - GitHub - RobustFieldAutonomyLab/LeGO-LOAM: LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrainhttps://github.com/RobustFieldAutonomyLab/LeGO-LOAM

二、依赖安装

本机ubuntu18.04 melodic 

gtsam4.0.2
gtsam-4.0.2的安装_gtsam4.0.2-CSDN博客文章浏览阅读113次。【代码】gtsam-4.0.2的安装。_gtsam4.0.2https://blog.csdn.net/weixin_44760904/article/details/134137745?spm=1001.2014.3001.5501

三、开始安装

如果已经创建过catkin_ws，直接cd过去就行

cd ~/catkin_ws/src
git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git
cd ..
catkin_make -j1
source ~/catkin_ws/devel/setup.bash

四、运行：

终端1:

roslaunch lego_loam run.launch

终端2:

 rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag   --clock --topic /velodyne_points /imu/data

--clock使用BAG的时钟

 包下载地址：https://drive.google.com/file/d/1s05tBQOLNEDDurlg48KiUWxCp-YqYyGH/view

五、效果