安装环境：ubuntu 16.04 amd64
1.1 Ubuntu 64bit 16.04 or 18.04 ROS Kinetic or Melodic. ROS Installation
1.2 Ceres Solver
Follow Ceres Installation。选择源码安装
1.3 PCL
https://www.cnblogs.com/gary-guo/protected/p/6565997.html
2.编译 A-LOAM
cd ~/catkin_ws/src
git clone https://github.com/HKUST-Aerial-Robotics/A-LOAM.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash
3.Velodyne VLP-16 Example
Download NSH indoor outdoor to YOUR_DATASET_FOLDER.
roslaunch aloam_velodyne aloam_velodyne_VLP_16.launch
rosbag play YOUR_DATASET_FOLDER/nsh_indoor_outdoor.bag