liosam安装

sudo apt-get install -y ros-melodic-navigation
sudo apt-get install -y ros-melodic-robot-state-publisher
sudo apt-get install -y ros-melodic-fake-localization
sudo apt-get install -y ros-melodic-robot-localization

sudo add-apt-repository ppa:borglab/gtsam-release-4.0
sudo apt install libgtsam-dev libgtsam-unstable-dev

cd ~/catkin_ws/src
git clone https://github.com/TixiaoShan/LIO-SAM.git 
cd .. catkin_make

数据集：
https://drive.google.com/drive/folders/1gJHwfdHCRdjP7vuT556pv8atqrCJPbUq

运行：
参数设置：
pointCloudTopic: "points_raw"
imuTopic: "imu_correct"
gpsTopic: "gps/fix"
savePCD: true
extrinsicRot: [1, 0, 0,
　　　　　　　0, 1, 0,
       0, 0, 1]
extrinsicRPY: [1, 0, 0,
       0, 1, 0,
       0, 0, 1]
执行命令：                     

roslaunch lio_sam run.launch
点击rviz map查看点云建图效果

报错：
ERROR: cannot launch node of type [robot_localization/ekf_localization_node]: robot_localization

解决：sudo apt-get install -y ros-melodic-robot-localization

rviz频繁退出错误：
设置bashrc文件：export SVGA_VGPU10=0