环境要求：

这里quick板上安装的是Ubuntu20.04版本

Ros Noeti安装：

1.设置软件源：

官方提供的软件源：

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

如果下载速度缓慢也可改用国内的清华源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ `lsb_release -cs` main" > /etc/apt/sources.list.d/ros-latest.list'

2.设置密钥：

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

3.开始安装

sudo apt update

sudo apt install ros-noetic-desktop

这里安装桌面版，后续需要其他工具再通过apt安装即可

4.设置环境变量

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

5.运行ROS

roscore

出现上述ROS版本名称和版本号代表安装成功。

定位与建图LeGO-LOAM编译安装：

github地址：GitHub - RobustFieldAutonomyLab/LeGO-LOAM: LeGO-LOAM: Lightweight and Ground-Optimized Lidar Odometry and Mapping on Variable Terrain

1.编译gtsam

cd ~

wget https://github.com/borglab/gtsam/archive/4.0.0-alpha2.zip

unzip gtsam.zip

cd gtsam-4.0.0-alpha2

mkdir build && cd build

cmake ..

sudo make install

2.编译LeGO-LOAM

mkdir -p ~/catkin_ws/src

sudo apt install git

git clone https://github.com/RobustFieldAutonomyLab/LeGO-LOAM.git

cd ..

catkin_make -j1

编译过程中如果出现如下pcl_ros错误

是因为libvulkan1版本不一致导致

sudo apt install libvulkan1=1.2.131.2-1

sudo apt-get install ros-noetic-pcl-ros

切换libvulkan1版本后安装ros-noetic-pcl-ros后即可成功编译

导航 FAR_Planner编译安装：

github地址：GitHub - MichaelFYang/far_planner: Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

cd ~

git clone GitHub - MichaelFYang/far_planner: Fast, Attemptable Route Planner for Navigation in Known and Unknown Environments

git checkout melodic-noetic

catkin_make

激光雷达rslidar_sdk编译安装：

github地址：GitHub - RoboSense-LiDAR/rslidar_sdk: RoboSense LiDAR SDK for ROS & ROS2

cd ~

git clone https://github.com/RoboSense-LiDAR/rslidar_sdk.git

cd rslidar_sdk

git submodule init

git submodule update

安装依赖文件：

sudo apt-get install -y libyaml-cpp-dev

sudo apt-get install -y  libpcap-dev

编译运行：

cd ~

mkdir -p <workspace>/src

cp -r rslidar_sdk <workspace>/src

cd <workspace>

catkin_make

source devel/setup.bash

编译成功即可运行

作者：王纪尧，高通工程师