高翔视觉SLAM十四讲学习笔记6+ORB_SLAM2编译+./build_ros.sh错误解决方法

一.ORB_SLAM2编译

首先下载ORB_SLAM2代码，编译过程如下

cd ORB_SLAM2
chmod +x build.sh
./build.sh

编译完成，运行TUM数据集命令

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/yutian/ORB_SLAM2/date/rgbd_dataset_freiburg1_desk

这样就可以跑数据集了。

二.ROS下运行ORB_SLAM2

输入以下命令

gedit ~/.bashrc

在文档最后加上

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/yutian/ORB_SLAM2/Examples/ROS

加入后保存关闭。
之后编译，如果出现问题

/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:203: 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]: *** 正在等待未完成的任务....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.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/Stereo.dir/build.make:203: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

首先通过locate boost_system和locate boost_filesystem查找两个文件到位置

locate  boost_system
//查找到目录
/usr/lib/x86_64-linux-gnu/libboost_system.a
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
/usr/local/MATLAB/R2017a/bin/glnxa64/libboost_system.so.1.56.0

locate boost_filesystem
//查找到目录
/usr/lib/x86_64-linux-gnu/libboost_filesystem.a
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
/usr/local/MATLAB/R2017a/bin/glnxa64/libboost_filesystem.so.1.56.0

然后找到对应到文件将libboost_system.so，libboost_system.so.1.58.0和libboost_filesystem.so，libboost_filesystem.so.1.58.0复制到ORB_SLAM2/lib下（注意是四个文件），最后在ORBSLAM2/Examples/ROS/ORBSLAM2/Cmakelists.txt中加两行代码

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 

${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so 
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so 

问题完美解决。