ExtractCloud_v1.0

第一步，确保系统中安装有Livox-SDK。

第二步，确保系统中可以编译FAST-LIO。

Prerequisites

1 Ubuntu and ROS

Ubuntu >= 16.04

For Ubuntu 18.04 or higher, the default PCL and Eigen is enough for FAST-LIO to work normally.

ROS >= Melodic. ROS Installation

2. PCL && Eigen

PCL >= 1.8, Follow PCL Installation.

Eigen >= 3.3.4, Follow Eigen Installation.

3. 修改bash

首先修改aaa.sh，将命令第一行修改至为cd /../../JLU_ectract_v1.0。以此电脑为例，命令为cd /home/crz/SLAM/JLU_ectract_v1.0，并给.sh赋予权限

然后修改FAST_LIO中的putoutCommand.cpp中第36行，将“”内的路径修改为本地aaa.sh路径

Build

Clone the repository and catkin_make:

    cd ~/$A_ROS_DIR$/src
    git clone https://github.com/ToutDonner/ExtractCloud_v1.0.git
    在extract_pt中新建一个include文件夹
    catkin_make
    source devel/setup.bash

Run

    cd ~/work_space/src
    source devel/setup.bash
    roslaunch extract_pc crz.launch
    rosrun fast_lio putoutCommand

当需要提取点云时

   rostopic pub /command std_msgs/Bool true

演示视频->Viedo