Ｕbuntu 14.04+ROS Indigo+LSD-SLAM

注：原作者给出的编译安装方式（https://github.com/tum-vision/lsd_slam）如下：

$ sudo apt-get install python-rosinstall
$ mkdir ~/rosbuild_ws
$ cd ~/rosbuild_ws
$ rosws init . /opt/ros/indigo
$ mkdir package_dir
$ rosws set ~/rosbuild_ws/package_dir -t .
$ echo "source ~/rosbuild_ws/setup.bash" >> ~/.bashrc
$ bash
$ cd package_dir
$ sudo apt-get install ros-indigo-libg2o ros-indigo-cv-bridge liblapack-dev libblas-dev freeglut3-dev libqglviewer-dev libsuitesparse-dev libx11-dev
$ git clone https://github.com/tum-vision/lsd_slam.git lsd_slam
$ rosmake lsd_slam

但我在做到最后一步即 rosmake lsd_slam的时候会出现些错误，加上对rosbuild不太熟悉，所以改用 catkin来对 LSD-SLAM进行编译。

具体的步骤如下所示：

1.创建ROS工作空间：

$ mkdir -p ~/lsdslam_catkin_ws/src

$ cd lsdslam_catkin_ws/src
$ catkin_init_workspace

$ cd ..
$ catkin_make
$ source devel/setup.bash
$ echo $ROS_PACKAGE_PATH
如果输出：

/home/zhuquan/lsdslam_catkin_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks
就说明ROS工作空间已经创建好了。

2. 安装并运行LSD-SLAM
2.1 获取LSD-SLAM源代码

$ cd src
$ git clone https://github.com/tum-vision/lsd_slam.git
$ cd lsd_slam
$ git checkout catkin

change to the Catkin "branch" of the LSD-SLAM project;

2.2 安装相关依赖项

$ sudo apt-get install ros-indigo-libg2o ros-indigo-cv-bridge liblapack-dev libblas-dev freeglut3-dev libqglviewer-dev libsuitesparse-dev libx11-dev


2.3 对lsd_slam/lsd_slam_viewer和lsd_slam/lsd_slam_core文件夹下的package.xml进行修改，在两个文件夹下的package.xml中都添加：



 
 
 

  
  
  
  
  
  
<build_depend>cmake_modules</build_depend>
<run_depend>cmake_modules</run_depend>
  
  
  


  
  
  2.4 
  
  
  对
  
  
  lsd_slam/lsd_slam_viewer
  
  
  和
  
  
  lsd_slam/lsd_slam_core