kinetic+ROS+TX2 (1)___ORB_SLAM v2

1.
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libpython2.7-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
2.
cd ~
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j4
3.kinetic opencv 3.2.0-dev
4.sudo apt-get install libeigen3-dev 
5.cd ~
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
6.cd ORB_SLAM2
chmod +x build.sh
./build.sh//attention to memory
7.vim ~/.bashrc
8.export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/ubuntu/ORB_SLAM2/Examples/ROS
9.source ~/.bashrc
cd ~/ORB_SLAM2/
./build_ros.sh

error:

ollect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:217: 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

Open:Examples/ROS/ORB_SLAM2/Cmakelists

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//Add this line
roslaunch kinect2_bridge kinect2_bridge.launch
you may need to run the previous program before running:
source ~/catkin_ws/devel/setup.bash//but you maybe also need delay a line in "gedit~/.bashrc"
because we don't need so much source.
rostopic list 
choose:/kinect2/qhd/image_color and /kinect2/qhd/image_depth_rect 
open:ORB-SLAM2/Example/ROS/ORBSLAM2/src/ros_rgbd.c 
Modify the following two lines
message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh,"/kinect2/qhd/image_color",1);
message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh,"/kinect2/qhd/image_depth_rect",1);
New file:ORB_SLAM2/Examples/RGB-D/kinect2_qhd.yaml according TUM1.yaml
Working pocesses:
rosrun ORB_SLAM2 RGBD /home/nvidia/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/nvidia/ORB_SLAM2/Examples/RGB-D/kinect2_qhd.yaml