ubuntu18.04运行ORBSLAM2踩坑记录

坑1：

error: 'usleep' was not declared in this scope
         usleep(3000);

解决办法：

        在对应报错文件中添加头文件：#include<unistd.h>

坑2：

当编译执行到./build.sh文件时，报错Eigen3 found！之类错误。

解决办法：

        从目录ORB_SLAM2-master/cmake_modules/下找到FindEigen3.cmake文件，然后把它复制到报错的CMakeLists.txt对应的路径下/src中

        然后在CMakeLists.txt文件中添加以下两行配置：

set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
include_directories(${EIGEN3_INCLUDE_DIRS})

坑3：

当编译执行到./build_ros.sh文件时，报错Eigen3 found！

解决方法：

在主文件夹下直接查找FindEigen3.cmake文件,然后把它复制到报错的orb-slam2/Examples/ROS/ORB-SLAM21/CMakeLists.txt对应的路径下/src中,在CMakeLists.txt中，

添加：

set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
include_directories($ {EIGEN3_INCLUDE_DIRS})

坑4:

 解决方案：修改Examples/ROS/ORB_SLAM2/文件夹下的CMakeLists.txt文件
即在相应位置添加：一行 -lboost_system

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
-lboost_system
)

坑5：ROS路径设置的问题

由于ORBSLAM2中设置了rosbuild_init()，而我们编译文档之前需要先关联工作区间。报错如下：

[rosbuild] rospack found package "ORB_SLAM2" at "", but the current directory is "/home/xiaoC/ORB_SLAM2/Examples/ROS/ORB_SLAM2"

解决方法：
sudo vim ~/.bashrc
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xiaoC/ORB_SLAM2/Examples/ROS
source ~/.bashrc
理论上上述应该是ok的，如果不ok再执行下面语句。
ok与否判别，通过输出echo $ROS_PACKAGE_PATH进行查看


cd /opt/ros/melodic/
sudo vim setup.bash 
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xiaoC/ORB_SLAM2/Examples/ROS
source setup.bash

测试是否添加成功两种方式
roscd ORB_SLAM2
echo $ROS_PACKAGE_PATH