一些安装ORBSLAM3过程中遇到的bug，记录一下

报错：
juche@juche-upc:~/ORBSLAM/Monocular-Inertial-line/Examples/ROS/ORB_SLAM3/build$ cmake .. -DROS_BUILD_TYPE=Release
CMake Warning (dev) in CMakeLists.txt:
  No project() command is present.  The top-level CMakeLists.txt file must
  contain a literal, direct call to the project() command.  Add a line of
  code such as

    project(ProjectName)

  near the top of the file, but after cmake_minimum_required().

  CMake is pretending there is a "project(Project)" command on the first
  line.
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:7 (cmake_policy):
  The OLD behavior for policy CMP0011 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
  CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:16 (cmake_policy):
  The OLD behavior for policy CMP0002 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
  CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:18 (cmake_policy):
  The OLD behavior for policy CMP0003 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
  CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:20 (cmake_policy):
  The OLD behavior for policy CMP0005 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
  CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/noetic/share/ros/core/rosbuild/rosbuild.cmake:23 (cmake_policy):
  The OLD behavior for policy CMP0011 will be removed from a future version
  of CMake.

  The cmake-policies(7) manual explains that the OLD behaviors of all
  policies are deprecated and that a policy should be set to OLD only under
  specific short-term circumstances.  Projects should be ported to the NEW
  behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
  CMakeLists.txt:2 (include)

[rosbuild] Building package ORB_SLAM3
Failed to invoke /opt/ros/noetic/bin/rospack deps-manifests ORB_SLAM3
[rospack] Error: the rosdep view is empty: call 'sudo rosdep init' and 'rosdep update'

CMake Error at /opt/ros/noetic/share/ros/core/rosbuild/public.cmake:129 (message):
  

  Failed to invoke rospack to get compile flags for package 'ORB_SLAM3'.
  Look above for errors from rospack itself.  Aborting.  Please fix the
  broken dependency!

Call Stack (most recent call first):
  /opt/ros/noetic/share/ros/core/rosbuild/public.cmake:207 (rosbuild_invoke_rospack)
  CMakeLists.txt:4 (rosbuild_init)

-- Configuring incomplete, errors occurred!
See also "/home/juche/ORBSLAM/Monocular-Inertial-line/Examples/ROS/ORB_SLAM3/build/CMakeFiles/CMakeOutput.log".

解决：
https://zhuanlan.zhihu.com/p/442906804
rosdep出问题
sudo apt install python-is-python3

sudo rosdep init
rosdep update
如果你直接成功了，可直接跳过即可编译通过。

报错：
error while loading shared libraries: liblinedesc.so: cannot open shared object file: No such file or directory
error while loading shared libraries: libg2o.so: cannot open shared object file: No such file or directory
error while loading shared libraries: libDBoW2.so: cannot open shared object file: No such file or directory

error while loading shared libraries - ROS Answers: Open Source Q&A Forum

*.so 移动到 /usr/lib/ 解决问题

遇到这种类型的，就是系统找不到链接库，
解决：
先在源程序目录中找到相应的源文件库，例如libg2o.so,
sudo cp libg2o.so  /usr/lib
复制到系统库中，刷新一下即可。