Hesai-Pandar-XT-16/N100-MINI 运行LIO-SAM

LIO-SAM 运行

相关链接：

LIO-SAM source code repositories

LIDAR-DRIVER - HesaiLidar_General_ROS

Hesai Lidar 产品资料下载

content

一. 测试条件{#1.测试条件}

  • 系统 : Ubuntu 18.04 DJI-manifold2-C
  • 激光雷达 : Hesai-Pandar-XT-16
  • IMU : WHEELTEC-N100-mini

二. 安装{#2.安装}

1.设备驱动安装{#1.1-驱动安装}

激光雷达驱动安装{#1.1.1激光雷达驱动安装}

    ...
    mkdir -p ~/catkin_ws/src
    cd catkin_ws/src
    git clone https://github.com/HesaiTechnology/HesaiLidar_General_ROS.git --recursive
    
    #back to the catkin_ws directory
    cd ../
    caktin_make
    ...

详细安装步骤见： LIDAR-DRIVER - HesaiLidar_General_ROS

bug编译排查 笔者在编译 HesaiLidar_General_ROS package 过程中遇到了一些问题，具体如下：

    fatal error: hesai_lidar/PandarScan.h: No such file or directory #include "hesai_lidar/PandarScan.h"

参照 驱动仓库issue - PandarScan.h：没有此文件或目录

    cd ~/catkin_ws/src/HesaiLidar_General_ROS
    vi CMakeLists.txt
    #48行：添加依赖
    add_dependencies(PandarGeneral hesai_lidar_generate_messages_cpp)

IMU驱动安装{#1.1.2IMU驱动}

驱动下载: 惯导&GNSS/GPS模块资料

解压到工作空间 src/ 目录下

    ...
    cd catkin_ws/src
    unzip fdilink_ahrs_ROS1.zip
    ...

详细安装步骤见： 轮趣IMU-N100 ROS驱动安装

2.LIO-SAM安装{#1.2LIO-SAM安装}

同样在 src/ 目录下克隆仓库

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

详细安装步骤见： LIO-SAM source code repositories

三. 系统运行{#3.运行}

1. 配置修改{#3.1配置修改}

    cd catkin_ws
    catkin_make

2.传感器校准{#3.2传感器校准}

IMU校准：

rosbag info /home/dji/Work_Space/FAST_LIO/tools/datasheet/N100-mimini-2h.bag 

path:        /home/dji/Work_Space/FAST_LIO/tools/datasheet/N100-mimini-2h.bag
version:     2.0
duration:    2hr 9:09s (7749s)
start:       Nov 18 2024 13:13:08.98 (1731906788.98)
end:         Nov 18 2024 15:22:18.18 (1731914538.18)
size:        279.4 MB
messages:    774928
compression: none [361/361 chunks]
types:       sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
topics:      /imu   774928 msgs    : sensor_msgs/Imu

(1) 安装校准工具

仓库地址：校准工具包 imu_utils

    cd catkin_ws/src
    git clone https://github.com/gaowenliang/code_utils.git
    git clone https://github.com/gaowenliang/imu_utils.git
    cd ~/catkin_ws

    # 依次单独编译
    catkin_make -DCATKIN_WHITELIST_PACKAGES=code_utils
    catkin_make -DCATKIN_WHITELIST_PACKAGES=imu_tuils

编译bug修复：

    #openCV版本不匹配

    # edit for build bug fix 
    row 84/107: CV_LOAD_IMAGE_GRAYSCALE 改为 cv::IMREAD_GRAYSCALE
    row 94/117: CV_MINMAX 改为 NORM_MINMAX

    vim src/code_utils/src/mat_io_test.cpp
    row 33: CV_LOAD_IMAGE_UNCHANGED 改为 cv::IMREAD_UNCHANGED

    # 头文件缺失
    error: aggregate ‘std::ofstream out_t’ has incomplete type and cannot be defined
    std::ofstream out_t;

    vim src/imu_utils/src/imu_utils.cpp
    row22: #include<fstream>

    fatal error: backward.hpp: No such file or directory
    #include "backward.hpp"

    vim src/code_utils/src/sumpixel_test.cpp
    row2: #include "backward.hpp" 改为 #include "code_utils/backward.hpp"

详细参考: Pandar40P Lidar + H30 IMU 外参标定

2. 运行

    source devel/setup.bash
    roslaunch PandarGeneral pandargeneral.launch
    roslaunch lio_sam run.launch