参考如下三篇博客:
https://www.cnblogs.com/cc111/p/9382694.html
https://www.cnblogs.com/GJGJH/p/9704384.html
https://blog.csdn.net/softimite_zifeng/article/details/78632653
除此之外,还遇到到了如下问题
1、如g2o的问题 https://github.com/tum-vision/lsd_slam/issues/276
解决方案:卸载自己安装的g2o,安装ros-kinetic-libg2o
2、运行下面命令时出现double free的coredump,
rosrun lsd_slam_core live_slam image:=/image_raw camera_info:=/camera_info
解决方案:安装eigen3.2.5, 只安装这个版本