ORBSLAM2安装问题总结

在编译ubuntu16.04ros包的时候出现以下问题

问题1：libboost_system.so 与libboost_filesystem.so找不到链接目录

详细错误：
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:223: recipe for target ‘…/RGBD’ failed
make[2]: *** […/RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target ‘CMakeFiles/RGBD.dir/all’ failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs…

错误原因：
libboost_system.so 与libboost_filesystem.so找不到链接目录
解决方法：

1. 查找链接

$ locate libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0

2. 将libboost_system.so复制到ORB_SLAM2/lib下
3. 将ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入库目录

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
之后加入
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so