使用教程

运行FAST_LIO2：

步骤1:
cd /home/slam/FAST_LIO
source devel/setup.bash
roslaunch ./src/FAST_LIO/launch/mapping_velodyne.launch

步骤2:
cd /home/slam/datasets
rosbag play kitti_2011_09_30_drive_0016_synced.bag

TUM格式的轨迹保存在：/home/slam/FAST_LIO/tum_path.txt

运行FAST-LIVO：

步骤1:

cd /home/slam/FAST_LIO
source devel/setup.bash

roslaunch fast_livo mapping_avia.launch

步骤2:

cd /home/slam/datasets

rosbag play hku1.bag

 

A-LOAM：
步骤1:
cd /home/slam/LOAM_ws
source devel/setup.bash 
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
步骤2:
cd /home/slam/datasets
rosbag play nsh_indoor_outdoor.bag

Lego-LOAM：
步骤1:
cd /home/slam/LOAM_ws
source devel/setup.bash 

roslaunch lego_loam run.launch

步骤2:
cd /home/slam/datasets
rosbag play 2017-06-08-15-49-45_0.bag --clock --topic /velodyne_points /imu/data

lvi_sam：
步骤1:
cd /home/slam/Lvisam_ws
source devel/setup.bash 

roslaunch lvi_sam run.launch

步骤2:
cd /home/slam/datasets
rosbag play handheld.bag

R3live:

步骤1:
cd /home/slam/R3live_ws
source devel/setup.bash 

roslaunch r3live r3live_bag.launch

步骤2:
cd /home/slam/datasets
rosbag play hku_park_00.bag