Fast LOAM (FLOAM) install (ROS noetic)

Fast LOAM (Lidar Odometry And Mapping)
https://github.com/AGauto/floam.git

 

Wang, H., Wang, C., Chen, C. L., & Xie, L. (2021, September). F-loam: Fast lidar odometry and mapping. In 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 4390-4396). IEEE.

https://arxiv.org/pdf/2107.00822.pdf

hpc@hpc-ubuntu:~$ mkdir -p ~/catkin_floam/src
hpc@hpc-ubuntu:~$ cd catkin_floam/src/
hpc@hpc-ubuntu:~/catkin_floam/src$ git clone https://github.com/AGauto/floam.git
Cloning into 'floam'...
remote: Enumerating objects: 213, done.
remote: Total 213 (delta 0), reused 0 (delta 0), pack-reused 213
Receiving objects: 100% (213/213), 26.01 MiB | 4.86 MiB/s, done.
Resolving deltas: 100% (127/127), done.
hpc@hpc-ubuntu:~/catkin_floam/src$ sudo apt-get install ros-noetic-hector-trajectory-server
Reading package lists... Done
Building dependency tree       
Reading state information... Done
The following additional packages will be installed:
  ros-noetic-hector-map-tools ros-noetic-hector-nav-msgs
The following NEW packages will be installed:
  ros-noetic-hector-map-tools ros-noetic-hector-nav-msgs ros-noetic-hector-trajectory-server

hpc@hpc-ubuntu:~/Downloads/ceres-bin$ sudo apt install libceres-dev

#error PCL requires C++14 or above
https://github.com/PointCloudLibrary/pcl/issues/2968

change code of CMakeLists.txt
set(CMAKE_CXX_FLAGS "-std=c++14")

set(CMAKE_CXX_FLAGS "-std=c++14")

hpc@hpc-ubuntu:~/catkin_floam$ catkin_make
Base path: /home/hpc/catkin_floam
Source space: /home/hpc/catkin_floam/src
Build space: /home/hpc/catkin_floam/build
Devel space: /home/hpc/catkin_floam/devel
Install space: /home/hpc/catkin_floam/install
...
[100%] Linking CXX executable /home/hpc/catkin_floam/devel/lib/floam/floam_odom_estimation_node
[100%] Built target floam_odom_estimation_node



roslaunch floam floam.launch

roslaunch floam floam_mapping.launch