真实/XTDrone仿真安装 livox-360激光雷达ROS驱动+fasterlio配置

1.真实环境安装livox-360 ROS版本驱动

1. 安装Livox SDK2

git clone https://github.com/Livox-SDK/Livox-SDK2.git
cd Livox-SDK2/
mkdir build && cd build
cmake .. 
make -j
sudo make install

卸载sdk

$ sudo rm -rf /usr/local/lib/liblivox_lidar_sdk_*
$ sudo rm -rf /usr/local/include/livox_lidar_*

2. 安装ros驱动

git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2
cd livox_ros_driver2
source /opt/ros/noetic/setup.sh
# For ros1
./build.sh ROS1

3. 连接激光雷达与PC

网口线连接是通过enx…
IPV4方式要改成manual方式
设置激光雷达ip，子网掩码，网关如下

修改/src/livox_ros_driver2/config/MID360_config.json中对应的IP地址
其中 "host_net_info"中的所有ip都为激光雷达的ip
"lidar_configs" 中的"ip"为192.168.1.1xx，其中xx为激光雷达SN码的最后两位

{
  "lidar_summary_info" : {
    "lidar_type": 8
  },
  "MID360": {
    "lidar_net_info" : {
      "cmd_data_port": 56100,
      "push_msg_port": 56200,
      "point_data_port": 56300,
      "imu_data_port": 56400,
      "log_data_port": 56500
    },
    "host_net_info" : {
      "cmd_data_ip" : "192.168.1.50",
      "cmd_data_port": 56101,
      "push_msg_ip": "192.168.1.50",
      "push_msg_port": 56201,
      "point_data_ip": "192.168.1.50",
      "point_data_port": 56301,
      "imu_data_ip" : "192.168.1.50",
      "imu_data_port": 56401,
      "log_data_ip" : "",
      "log_data_port": 56501
    }
  },
  "lidar_configs" : [
    {
      "ip" : "192.168.1.126",
      "pcl_data_type" : 1,
      "pattern_mode" : 0,
      "extrinsic_parameter" : {
        "roll": 0.0,
        "pitch": 0.0,
        "yaw": 0.0,
        "x": 0,
        "y": 0,
        "z": 0
      }
    }
  ]
}

4. 测试

将工作空间添加到.bashrc中并激活
查看是否配置成功

roslaunch livox_ros_driver2 rviz_MID360.launch

2.真实环境安装安装fasterlio

依赖安装

sudo apt-get install libgoogle-glog-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libpcl-dev
sudo apt-get install libyaml-cpp-dev

Faster-LIO需要将gcc、g++编译器版本更新到9.0以上，编译器更新

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt install gcc-9
sudo apt install g++-9
cd /usr/bin
sudo rm gcc g++
sudo ln -s gcc-9 gcc
sudo ln -s g++-9 g++

查看编译器版本

g++ --version 
gcc --version

安装tbb库

cd ~
wget https://github.com/intel/tbb/archive/2019_U8.tar.gz
tar zxvf 2019_U8.tar.gz
rm 2019_U8.tar.gz
cd oneTBB-2019_U8
cp build/linux.gcc.inc build/linux.gcc-9.inc
code -n build/linux.gcc-9.inc
#对文本内容进行修改
CPLUS ?= g++-9
CONLY ?= gcc-9
#编译
make compiler=gcc-9 stdver=c++17 tbb_build_prefix=my_tbb_build

将tbb安装到系统

sudo mkdir /usr/local/tbb-2019_U8
sudo cp -r include /usr/local/tbb-2019_U8/include
sudo ln -s /usr/local/tbb-2019_U8/include/tbb /usr/local/include/tbb
sudo cp -r build/my_tbb_build_release /usr/local/tbb-2019_U8/lib
sudo ln -s /usr/local/tbb-2019_U8/lib/libtbb.so.2 /usr/local/lib/libtbb.so
sudo ln -s /usr/local/tbb-2019_U8/lib/libtbbmalloc.so.2 /usr/local/lib/libtbbmalloc.so
sudo ln -s /usr/local/tbb-2019_U8/lib/libtbbmalloc_proxy.so.2      /usr/local/lib/libtbbmalloc_proxy.so

一定要加这句，将tbb放入系统库中

echo'export LD_LIBRARY_PATH=/usr/local/tbb-2019_U8/lib:$LD_LIBRARY_PATH'  >>      ~/.bashrc
source ~/.bashrc

安装faterlio

cd ~/catkin_ws/src
git clone https://github.com/gaoxiang12/faster-lio.git

将~/catkin_ws/src/faster-lio/src/cmakelist的target_link_libraries路径改为具体的tbb路径

target_link_libraries(${PROJECT_NAME}
        ${catkin_LIBRARIES}
        ${PCL_LIBRARIES}
        ${PYTHON_LIBRARIES}
		/usr/local/lib/libtbb.so
		/usr/local/lib/libtbbmalloc.so
		/usr/local/lib/libtbbmalloc_proxy.so
        glog
        yaml-cpp
        )

编译

#编译
cd ~/catkin_ws
catkin_make

若这样编译不成功，可以尝试

mkdir build
cd build
cmake .. -DCUSTOM_TBB_DIR=`pwd`/../thirdparty/tbb2018_20170726oss
make -j8   

cd ~/catkin_ws/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git

#由于前面已经安装了livox_ros_driver，所以需要将faster-lio/thirdparty/livox_ros_driver删除，否则编译时会报错
cd ~/catkin_ws/src/faster-lio/thirdparty
rm -rf livox_ros_driver
#再将faster-lio下的CMakeLists的部分内容注释掉
cd ~/catkin_ws/src/faster-lio
gedit CMakeLists.txt
#将第15行的add_subdirectory(thirdparty/livox_ros_driver)注释掉，保存
#修改faster_lio配置文件
cd ~/catkin_ws/src/faster-lio/config/
gedit avia.yaml

3.XTDrone安装livox-360 模型

参考链接：https://blog.csdn.net/qq_32761549/article/details/134602816

1. 安装相关依赖

安装livox_ros_driver

cd catkin_ws/src
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ..
catkin_make

安装livox360激光雷达仿真模型

cd ~/catkin_ws/src
git clone https://github.com/Luchuanzhao/Livox_simulation_customMsg.git
mv Livox_simulation_customMsg livox_laser_simulation

通过修改~/catkin_ws/src/livox_laser_simulation/src/livox_points_plugin.cpp源码将CustomMsg点云格式为PointCloud
添加mid360.csv这个文件在home/byy/catkin_ws/src/livox_laser_simulation/scan_mode文件夹

#将101行改为自己所需要的点云格式：0->PointCloud；1/2->PointCloud2；3->CustomMsg
publishPointCloudType = 0;
#注释掉340、341行的坐标变换代码，要不然rviz中得不到图像
// tfBroadcaster->sendTr