参考链接:https://blog.csdn.net/u012526003/article/details/51003347
使用平台
ubuntu 16.04
ros kinetic
kinect安装步骤
1.安装kinect驱动文件
sudo apt-get install libfreenect-dev
sudo apt-get install ros-kinetic-freenect-launch
2.运行kinect
roslaunch freenect_launch freenect.launch
ORB_SLAM2程序
1.首先把ORB_SLAM2文件夹放在创建的catkin_ws工作空间中的src文件夹下.
2.在环境变量中加入下面这行
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
把PATH
换成~/catkin_ws/src
3.最后重新加载环境文件
4.执行build_ros.sh脚本
$ chmod +x build_ros.sh
$ ./build_ros.sh
注释:
出现了’usleep’ was not declared in this scope问题.在出现问题的文件中添加
#include<unistd.h&g