1、安装依赖库
（1）Sophus
git clone https://github.com/strasdat/Sophus.git
cd Sophus
git checkout a621ff
mkdir build && cd build && cmake ..
make
sudo make install命令行运行：make时，出现以下错误：
/home/jiangqiang/ccy/FAST_LIVO2/depend/Sophus/sophus/so2.cpp:32:26: error: lvalue required as left operand of assignment
32 | unit_complex_.real() = 1.;
| ^~
/home/jiangqiang/ccy/FAST_LIVO2/depend/Sophus/sophus/so2.cpp:33:26: error: lvalue required as left operand of assignment
33 | unit_complex_.imag() = 0.;
解决办法：
找到so2.cpp文件出错位置，将其替换为：
SO2::SO2()
{
//unit_complex_.real() = 1.;
//unit_complex_.imag() = 0.;
unit_complex_.real(1.);
unit_complex_.imag(0.);
}
修改之后，重新运行：make，无error出现。
2、Build编译
cd ~/catkin_ws/src
git clone https://github.com/hku-mars/FAST-LIVO2
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash在运行 catkin_make时，可能出现以下error:
/home/jiangqiang/ccy/FAST_LIVO2/fast_livo2/src/FAST-LIVO2/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’}
52 | ofstream fout_imu;/home/jiangqiang/ccy/FAST_LIVO2/fast_livo2/src/FAST-LIVO2/include/IMU_Processing.h:52:12: error: field ‘fout_imu’ has incomplete type ‘std::ofstream’ {aka ‘std::basic_ofstream<char>’}
52 | ofstream fout_imu;
出现上述问题的原因在于：在IMU_Processing.h头文件中声明的fout_imu成员变量类型std::ofstream是不完整的。这通常意味着编译器在尝试编译包含该头文件的源文件时，没有找到std::ofstream的完整定义。
解决方法：在IMU_Processing.h头文件的顶部添加#include <fstream>。这能提供std::ofstream的完整定义。
之后重新运行catkin_make，能够正常编译。
3、run运行
（1）数据集验证：
roslaunch fast_livo mapping_avia.launch
rosbag play YOUR_DOWNLOADED.bag数据集链接: https://pan.baidu.com/s/1C6NLkr6nbRAPqJHsLQq45w?pwd=7tx1 提取码: 7tx1
验证结果已经上传。
