Update README.md

noticeable · Apr 1, 2022 · 70965b2 · 70965b2
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 # SLAM-application: installation and test
-+ (3D): [LeGO-LOAM](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM), [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM), [LVI-SAM](https://github.com/TixiaoShan/LVI-SAM), and [FAST-LIO2](https://github.com/hku-mars/FAST_LIO)
++ (3D): [LeGO-LOAM](https://github.com/RobustFieldAutonomyLab/LeGO-LOAM), [LIO-SAM](https://github.com/TixiaoShan/LIO-SAM), [LVI-SAM](https://github.com/TixiaoShan/LVI-SAM), [FAST-LIO2](https://github.com/hku-mars/FAST_LIO), and [Faster-LIO](https://github.com/gaoxiang12/faster-lio)
   + Tested on `Quadruped robot` in `Gazebo`
 
 <br>
@@ -17,12 +17,12 @@
 
 ## Requirements
 + Dependencies
-~~~shell
+~~~bash
 $ sudo apt-get install -y ros-melodic-navigation ros-melodic-robot-localization ros-melodic-robot-state-publisher
 ~~~
 
-+ [GTSAM](https://github.com/borglab/gtsam/releases)
-~~~shell
++ [GTSAM](https://github.com/borglab/gtsam/releases) for `LVI-SAM` and `LIO-SAM`
+~~~bash
 $ wget -O gtsam.zip https://github.com/borglab/gtsam/archive/4.0.2.zip
 $ unzip gtsam.zip
 $ cd gtsam-4.0.2/
@@ -32,7 +32,7 @@ $ sudo make install -j8
 ~~~
 
 + [Ceres solver](http://ceres-solver.org) only for `LVI-SAM`
-~~~shell
+~~~bash
 $ sudo apt-get install -y cmake libgoogle-glog-dev libatlas-base-dev libsuitesparse-dev
 $ wget http://ceres-solver.org/ceres-solver-1.14.0.tar.gz
 $ tar zxf ceres-solver-1.14.0.tar.gz
@@ -44,6 +44,14 @@ $ make test
 $ make install
 ~~~
 
++ `g++-9` and `gcc-9` for `Faster-LIO`
+~~~bash
+$ sudo add-apt-repository ppa:ubuntu-toolchain-r/test
+$ sudo apt update
+$ sudo apt install gcc-9 g++-9
+$ sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-9 60 --slave /usr/bin/g++ g++ /usr/bin/g++-9
+~~~
+
 <br>
 
 ## Installation
@@ -98,6 +106,18 @@ $ catkin build
 
 <br>
 
+### ● Faster-LIO
+~~~shell
+$ cd ~/your_workspace/src
+$ git clone https://github.com/gaoxiang12/faster-lio
+$ cd faster-lio/thirdparty
+$ tar -xvf tbb2018_20170726oss_lin.tgz
+$ cd ~/your_workspace
+$ catkin build -DCUSTOM_TBB_DIR=$(pwd)/src/faster-lio/thirdparty/tbb2018_20170726oss
+~~~
+
+<br>
+
 ## How to run in Gazebo
 #### ● check each of config files in the folders: [`LeGO-LOAM`](https://github.com/engcang/SLAM-application/tree/main/lego-loam), [`LIO-SAM`](https://github.com/engcang/SLAM-application/tree/main/lio-sam), [`LVI-SAM`](https://github.com/engcang/SLAM-application/tree/main/lvi-sam), and [`FAST-LIO2`](https://github.com/engcang/SLAM-application/tree/main/fast-lio2)