官方下载https://github.com/Livox-SDK一、作用Livox-SDK2提供底层 MID360 通信库livox_ros_driver2发布 /livox/lidar 和 /livox/imuLIO-Livox订阅 Livox 点云和 IMU做建图/定位文件路径lio_livox_ws/├── src/│ ├── livox_SDK2/│ │ └── xxx/│ ││ ├── livox_ros_driver2/│ │ ├── xxx/│ ││ ├── lio_livox/│ │ └── xxx/注意3个文件都在~/lio_livox_ws/src下。二、编译2.1 编译Livox-SDK2安装基础依赖sudo apt update sudo apt install-y \ git cmake build-essential pkg-config \ libapr1-dev \ libeigen3-dev \ libpcl-dev \ libsuitesparse-dev \ libgoogle-glog-dev \ libgflags-dev \ libatlas-base-dev \ libboost-all-dev \ ros-noetic-pcl-ros \ ros-noetic-tf \ ros-noetic-cv-bridge \ ros-noetic-roscpp \ ros-noetic-rospy \ ros-noetic-std-msgs \ ros-noetic-sensor-msgs \ ros-noetic-geometry-msgs \ ros-noetic-nav-msgs安装编译安装 Livox-SDK2cd~/lio_livox_ws/src git clone https://github.com/Livox-SDK/Livox-SDK2.gitcd Livox-SDK2 mkdir-p build cd build cmake..make-j$(nproc)sudo make install sudo ldconfig检查安装结果ls/usr/local/lib|grep livox ls/usr/local/include|grep livox正常应该能看到类似liblivox_lidar_sdk_shared.so livox_lidar_api.h livox_lidar_def.h2.2 编译livox_ros_driver2用 livox_ros_driver2 官方 build.sh 编译 ROS1 版本, 下载包到~/lio_livox_ws/src/下cd~/lio_livox_ws/src/livox_ros_driver2 chmodx build.sh source/opt/ros/noetic/setup.bash./build.sh ROS1检查安装结果cd~/lio_livox_ws source devel/setup.bash find~/lio_livox_ws-name livox_ros_driver2_node-type f正常应该能看到类似~/lio_livox_ws/devel/lib/livox_ros_driver2/livox_ros_driver2_node报错了推荐方案先临时忽略 LIO-Livox只编译 livox_ros_driver2。由于我之前误删除过~/lio_livox_ws/build,再次编译时也会编译LIO-Livox所以先忽略只编译 livox_ros_driver2。cd~/lio_livox_ws/src touch Livox-SDK2/CATKIN_IGNORE touch LIO-Livox/CATKIN_IGNORE忽略编译Livox-SDK2和LIO-Livox再次编译livox_ros_driver2成功了恢复编译LIO-Livoxcd~/lio_livox_ws/src # 恢复 LIO-Livox rm-f LIO-Livox/CATKIN_IGNORE #然后检查当前忽略状态 find~/lio_livox_ws/src-name CATKIN_IGNORE-print #显示/home/unitree/lio_livox_ws/src/Livox-SDK2/CATKIN_IGNORE ##Livox-SDK2忽略没有问题2.3 编译LIO-Livoxcd~/lio_livox_ws catkin_make-DCMAKE_BUILD_TYPERelease source devel/setup.bash确认rospack find lio_livox ##成功显示路径
