1、boost版本
boost版本查看：cat /usr/include/boost/version.hpp | grep "BOOST_LIB_VERSION"
boost版本为1.78，为1.71时编译报错，报错内容为：
error: missing binary operator before token "(" 60 | #if PTHREAD_STACK_MIN > 0
boost官方链接：Version 1.78.0
boost安装：
./bootstrap.sh
sudo ./b2 install
执行以上两步骤即可。
2、GTSAM安装
sudo add-apt-repository ppa:borglab/gtsam-develop
sudo apt update
sudo apt install libgtsam-dev libgtsam-unstable-dev
版本查看：dpkg -s libgtsam-dev | grep Version
保证版本不低于4.03
3、修改CmakeList.txt
set(CMAKE_CXX_FLAGS "-std=c++11")更改为set(CMAKE_CXX_STANDARD 14)
4、修改include utility.h
#include <opencv2/opencv.hpp>替换#include <opencv/cv.h>
并且该头文件在pcl的头文件下面
5、数据集链接
https://drive.google.com/drive/folders/1gJHwfdHCRdjP7vuT556pv8atqrCJPbUq
6、运行
roslaunch lio_sam run.launch
rosbag play ***.bag
