ORB-SLAM2安装以及遇到问题

Ubuntu16.04跑ORB_SLAM项目
所用显卡：GeForce RTX 2070
显卡驱动：NVIDIA-SMI 410.78
CUDA Version: 10.0
cudnn :7.5.0
查看CUDA版本：nvcc -V
cudnn版本：cat /usr/local/cuda/include/cudnn.h | grep CUDNN_MAJOR -A 2
查看显卡信息：nvidia-smi
安装caffe前的工作：Ubuntu16.04 Caffe 安装步骤
或者在参考caffe安装步骤
编译caffe前过程中会报一些错误：
1.Ubuntu16.04 编译 opencv 出现错误：Unsupported gpu architecture ‘compute_20’
可参考：参考

安装opencv2.4.11
可以参考

安装caffe两种方式：
make传统:

make all
make test
make runtest

cmake专业:

mkdir build
cd build
cmake ..
make all
make install
make runtest

编译caffe遇到问题及解决:

1.安装lmdb

sudo apt-get install libffi-dev python-dev build-essential
sudo pip install lmdb

pip(升级pip install --upgrade pip)之后
使用sudo pip install lmdb出错
Traceback (most recent call last):
  File "/usr/bin/pip", line 9, in <module>
    from pip import main
ImportError: cannot import name main

这时打开了pip文件，修改
    from pip import main  
    if __name__ == '__main__':  
        sys.exit(main()) 
为
    from pip import __main__  //修改
    if __name__ == '__main__':  
        sys.exit(__main__._main())//修改

cmake专业方法:

1.cmake …报错

CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
  Could NOT find LMDB (missing: LMDB_INCLUDE_DIR LMDB_LIBRARIES)
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
  cmake/Modules/FindLMDB.cmake:19 (find_package_handle_standard_args)
  cmake/Dependencies.cmake:60 (find_package)
  CMakeLists.txt:49 (include)

操作：

sudo apt install libgflags-dev libgoogle-glog-dev liblmdb-dev -y

还是报错：

CMake Error at /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:148 (message):
  Could NOT find LevelDB (missing: LevelDB_INCLUDE LevelDB_LIBRARY)
Call Stack (most recent call first):
  /usr/share/cmake-3.5/Modules/FindPackageHandleStandardArgs.cmake:388 (_FPHSA_FAILURE_MESSAGE)
  cmake/Modules/FindLevelDB.cmake:18 (find_package_handle_standard_args)
  cmake/Dependencies.cmake:71 (find_package)
  CMakeLists.txt:49 (include)

操作：

sudo apt install libgflags-dev libgoogle-glog-dev libleveldb-dev -y

3.报错：

Could NOT find Snappy

操作：

sudo apt-get install libsnappy-dev

2.make all时报错：

In file included from /home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/include/caffe/util/cudnn.hpp:8:0,
                 from /home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/include/caffe/util/device_alternate.hpp:40,
                 from /home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/include/caffe/common.hpp:19,
                 from /home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/src/caffe/util/bbox_util.cu:9:
/home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/include/caffe/proto/caffe.pb.h:17:2: error: #error This file was generated by an older version of protoc which is
 #error This file was generated by an older version of protoc which is
  ^
/home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/include/caffe/proto/caffe.pb.h:18:2: error: #error incompatible with your Protocol Buffer headers. Please
 #error incompatible with your Protocol Buffer headers.  Please
  ^
/home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/include/caffe/proto/caffe.pb.h:19:2: error: #error regenerate this file with a newer version of protoc.
 #error regenerate this file with a newer version of protoc.
  ^
CMake Error at cuda_compile_generated_bbox_util.cu.o.cmake:207 (message):
  Error generating
  /home/ckq/projects/ORB_SLAM2/Thirdparty/caffe/build/src/caffe/CMakeFiles/cuda_compile.dir/util/./cuda_compile_generated_bbox_util.cu.o

由于我系统装的protoc装的版本是ptotoc2.6.1而项目用的是protoc2.5.0
所有要卸载2.6.1装2.5.0

查看自己的protoc版本：protoc --version
下载好后，安装：

./autogen.sh;
./configure;
make;
make check;
sudo make install;
sudo ldconfig;

4. make runtest报错

[ RUN      ] DataLayerTest/2.TestReadCropTestLevelDB
[       OK ] DataLayerTest/2.TestReadCropTestLevelDB (8 ms)
[ RUN      ] DataLayerTest/2.TestReshapeLMDB
*** Aborted at 1571406316 (unix time) try "date -d @1571406316" if you are using GNU date ***
PC: @     0x7f5c3b99d8c1 caffe::Blob<>::Reshape()
*** SIGSEGV (@0x90) received by PID 25350 (TID 0x7f5c00e3f700) from PID 144; stack trace: ***
    @     0x7f5c3ad9b390 (unknown)
    @     0x7f5c3b99d8c1 caffe::Blob<>::Reshape()
    @     0x7f5c3b858c93 caffe::DataLayer<>::load_batch()
    @     0x7f5c3b94c0cb caffe::BasePrefetchingDataLayer<>::InternalThreadEntry()
    @     0x7f5c3b7c25e5 caffe::InternalThread::entry()
    @     0x7f5c3b7c350e boost::detail::thread_data<>::run()
    @     0x7f5c3b1d05d5 (unknown)
    @     0x7f5c3ad916ba start_thread
    @     0x7f5c3450241d clone
    @                0x0 (unknown)
Segmentation fault (core dumped)
src/caffe/test/CMakeFiles/runtest.dir/build.make:57: recipe for target 'src/caffe/test/CMakeFiles/runtest' failed
make[3]: *** [src/caffe/test/CMakeFiles/runtest] Error 139
CMakeFiles/Makefile2:360: recipe for target 'src/caffe/test/CMakeFiles/runtest.dir/all' failed
make[2]: *** [src/caffe/test/CMakeFiles/runtest.dir/all] Error 2
CMakeFiles/Makefile2:367: recipe for target 'src/caffe/test/CMakeFiles/runtest.dir/rule' failed
make[1]: *** [src/caffe/test/CMakeFiles/runtest.dir/rule] Error 2
Makefile:253: recipe for target 'runtest' failed
make: *** [runtest] Error 2



[ RUN      ] DataLayerTest/2.TestReshapeLMDB
*** Aborted at 1571450231 (unix time) try "date -d @1571450231" if you are using GNU date ***
PC: @           0x92b3bb boost::shared_ptr<>::reset<>()
*** SIGSEGV (@0x6ad) received by PID 6103 (TID 0x7ff871b51700) from PID 1709; stack trace: ***
    @     0x7ff8aa8d0390 (unknown)
    @           0x92b3bb boost::shared_ptr<>::reset<>()
    @     0x7ff8ab4d2b74 caffe::Blob<>::Reshape()
    @     0x7ff8ab38dc93 caffe::DataLayer<>::load_batch()
    @     0x7ff8ab4810cb caffe::BasePrefetchingDataLayer<>::InternalThreadEntry()
    @     0x7ff8ab2f75e5 caffe::InternalThread::entry()
    @     0x7ff8ab2f850e boost::detail::thread_data<>::run()
    @     0x7ff8aad055d5 (unknown)
    @     0x7ff8aa8c66ba start_thread
    @     0x7ff8a403741d clone
    @                0x0 (unknown)
Segmentation fault (core dumped)
src/caffe/test/CMakeFiles/runtest.dir/build.make:57: recipe for target 'src/caffe/test/CMakeFiles/runtest' failed
make[3]: *** [src/caffe/test/CMakeFiles/runtest] Error 139
CMakeFiles/Makefile2:360: recipe for target 'src/caffe/test/CMakeFiles/runtest.dir/all' failed
make[2]: *** [src/caffe/test/CMakeFiles/runtest.dir/all] Error 2
CMakeFiles/Makefile2:367: recipe for target 'src/caffe/test/CMakeFiles/runtest.dir/rule' failed
make[1]: *** [src/caffe/test/CMakeFiles/runtest.dir/rule] Error 2
Makefile:253: recipe for target 'runtest' failed
make: *** [runtest] Error 2

还未解决，貌似可以不跑！

传统make方法

编译caffe时，遇见boost函数undefined reference to `boost::xxxxxx

修改makefile文件，将需要的boost::xxxxxx库，加到LIBRARIES后面

例如：

.build_release/lib/libcaffe.so: undefined reference to `boost::cpp_regex_traits<char>::toi(char const*&, char const*, int) const'
.build_release/lib/libcaffe.so: undefined reference to `boost::re_detail::get_default_error_string(boost::regex_constants::error_type)'
.build_release/lib/libcaffe.so: undefined reference to `boost::re_detail::cpp_regex_traits_implementation<char>::transform(char const*, char const*) const'
.build_release/lib/libcaffe.so: undefined reference to `boost::re_detail::put_mem_block(void*)'
.build_release/lib/libcaffe.so: undefined reference to `boost::basic_regex<char, boost::regex_traits<char, boost::cpp_regex_traits<char> > >::do_assign(char const*, char const*, unsigned int)'
.build_release/lib/libcaffe.so: undefined reference to `boost::re_detail::raise_runtime_error(std::runtime_error const&)'

上面错误是 undefined reference没有将regex填入LIBRARIES 中

修改LIBRARIES ，将boost_regex加入进去

# We will also explicitly add stdc++ to the link target.
LIBRARIES +=  boost_regex boost_atomic boost_thread stdc++

1.错误：

ckq@ckq:~/projects/ORB_SLAM2/Thirdparty/caffe$ make runtest -j8
.build_release/tools/caffe
.build_release/tools/caffe: error while loading shared libraries: libcudart.so.10.0: cannot open shared object file: No such file or directory
Makefile:543: recipe for target 'runtest' failed
make: *** [runtest] Error 127

不行
sudo cp /usr/local/cuda-10.0/lib64/libcudart.so.10.0 /usr/local/lib/libcudart.so.10.0 && sudo ldconfig
sudo cp /usr/local/cuda-10.0/lib64/libcublas.so.10.0 /usr/local/lib/libcublas.so.10.0 && sudo ldconfig
sudo cp /usr/local/cuda-10.0/lib64/libcurand.so.10.0 /usr/local/lib/libcurand.so.10.0 && sudo ldconfig


sudo cp /usr/local/cuda-10.0/lib64/libcudnn.so.7 /usr/local/lib/libcudnn.so.7 && sudo ldconfig

报错信息如下：error while loading shared libraries: libcudart.so.10.0: cannot open shared object file: No such file or directory

解决方案：sudo ldconfig /usr/local/cuda/lib64

2.错误

/usr/bin/ld: warning: libcudnn.so.7, needed by ../Thirdparty/caffe/build/lib/libcaffe.so, not found (try using -rpath or -rpath-link)
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnPoolingForward@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnCreateLRNDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSetPooling2dDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnLRNCrossChannelForward@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSoftmaxBackward@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSetTensor4dDescriptorEx@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSetActivationDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnGetConvolutionForwardWorkspaceSize@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnDivisiveNormalizationBackward@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnPoolingBackward@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnDestroyActivationDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSetLRNDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSetStream@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnDestroyTensorDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSetFilter4dDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnDestroyPoolingDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnCreateActivationDescriptor@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnGetConvolutionBackwardDataAlgorithm@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnActivationForward@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnSoftmaxForward@libcudnn.so.7'
../Thirdparty/caffe/build/lib/libcaffe.so: undefined reference to `cudnnGetConvolutionBackwardDataWorkspaceSize@libcudnn.so.7'

修改

sudo cp /usr/local/cuda-10.0/lib64/libcudnn.so.7 /usr/local/lib/libcudnn.so.7 && sudo ldconfig

之后make runtest -j8

依旧出错：


[ RUN      ] DataLayerTest/3.TestReshapeLMDB
*** Aborted at 1571472058 (unix time) try "date -d @1571472058" if you are using GNU date ***
PC: @     0x7fe0f8fba5e1 caffe::Blob<>::Reshape()
*** SIGSEGV (@0x90) received by PID 6561 (TID 0x7fe0adfff700) from PID 144; stack trace: ***
    @     0x7fe0f848c390 (unknown)
    @     0x7fe0f8fba5e1 caffe::Blob<>::Reshape()
    @     0x7fe0f8e93859 caffe::DataLayer<>::load_batch()
    @     0x7fe0f8f6fdbf caffe::BasePrefetchingDataLayer<>::InternalThreadEntry()
    @     0x7fe0f8e01645 caffe::InternalThread::entry()
    @     0x7fe0f8e0256e boost::detail::thread_data<>::run()
    @     0x7fe0f9e705d5 (unknown)
    @     0x7fe0f84826ba start_thread
    @     0x7fe0f81b841d clone
    @                0x0 (unknown)
Makefile:543: recipe for target 'runtest' failed
make: *** [runtest] Segmentation fault (core dumped)





make runtest -j8


[----------] 12 tests from SGDSolverTest/2, where TypeParam = caffe::GPUDevice<float>
[ RUN      ] SGDSolverTest/2.TestLeastSquaresUpdateWithWeightDecayMultiIter
F1020 19:45:51.637085 12090 layer_factory.hpp:81] Check failed: registry.count(type) == 1 (0 vs. 1) Unknown layer type: HDF5Data (known types: AbsVal, Accuracy, ArgMax, BNLL, BatchNorm, BatchReindex, Bias, Clip, Concat, ContrastiveLoss, Convolution, Crop, Data, Deconvolution, DetectionEvaluate, DetectionOutput, Dropout, DummyData, ELU, Eltwise, Embed, EuclideanLoss, Exp, Filter, Flatten, HingeLoss, Im2col, ImageData, InfogainLoss, InnerProduct, Input, LRN, LSTM, LSTMUnit, Log, MVN, MaskOutputs, MemoryData, MultiBoxLoss, MultinomialLogisticLoss, Normalize, PReLU, Parameter, Permute, Pooling, Power, PriorBox, Python, RNN, ReLU, Reduction, Reshape, SPP, Scale, Sigmoid, SigmoidCrossEntropyLoss, Silence, Slice, SmoothL1Loss, Softmax, SoftmaxWithLoss, Split, Swish, TanH, Threshold, Tile, VideoData, WindowData)
*** Check failure stack trace: ***
    @     0x7f45dd92e5cd  google::LogMessage::Fail()
    @     0x7f45dd930433  google::LogMessage::SendToLog()
    @     0x7f45dd92e15b  google::LogMessage::Flush()
    @     0x7f45dd930e1e  google::LogMessageFatal::~LogMessageFatal()
    @     0x7f45db202f9c  caffe::Net<>::Init()
    @     0x7f45db20472e  caffe::Net<>::Net()
    @     0x7f45db215db0  caffe::Solver<>::InitTrainNet()
    @     0x7f45db217285  caffe::Solver<>::Init()
    @     0x7f45db21759f  caffe::Solver<>::Solver()
    @           0x5fd852  caffe::SGDSolverTest<>::InitSolver()
    @           0x5f30ab  caffe::GradientBasedSolverTest<>::TestLeastSquaresUpdate()
    @           0x5f441c  caffe::SGDSolverTest_TestLeastSquaresUpdateWithWeightDecayMultiIter_Test<>::TestBody()
    @           0x947413  testing::internal::HandleExceptionsInMethodIfSupported<>()
    @           0x940a2a  testing::Test::Run()
    @           0x940b78  testing::TestInfo::Run()
    @           0x940c55  testing::TestCase::Run()
    @           0x941f2f  testing::internal::UnitTestImpl::RunAllTests()
    @           0x942253  testing::UnitTest::Run()
    @           0x46f3ad  main
    @     0x7f45da4ff830  __libc_start_main
    @           0x477269  _start
    @              (nil)  (unknown)
Makefile:543: recipe for target 'runtest' failed
make: *** [runtest] Aborted (core dumped)


[----------] 12 tests from NesterovSolverTest/0, where TypeParam = caffe::CPUDevice<float>
[ RUN      ] NesterovSolverTest/0.TestNesterovLeastSquaresUpdateLROneHundredth

[----------] 11 tests from AdaDeltaSolverTest/2, where TypeParam = caffe::GPUDevice<float>
[ RUN      ] AdaDeltaSolverTest/2.TestAdaDeltaLeastSquaresUpdateWithWeightDecay


修改：
sudo gedit /etc/default/locale

添加：LC_ALL="en_US.UTF-8"

至始至终没改好

编译build-ros.sh脚本一直通不过，只好进入/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2自行编译

直接 :mkdir build 
 cd build 
cmake ..

报错1：

CMake Error at CMakeLists.txt:2 (include):
  include could not find load file:

    /core/rosbuild/rosbuild.cmake


CMake Error at CMakeLists.txt:4 (rosbuild_init):
  Unknown CMake command "rosbuild_init".


-- Configuring incomplete, errors occurred!
See also "/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found.  Stop.

报错2：

[rosbuild] Building package ORB_SLAM2
[rosbuild] Error from directory check: /opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py  /home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2
1
Traceback (most recent call last):
  File "/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module>
    raise Exception
Exception
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message):
  [rosbuild] rospack found package "ORB_SLAM2" at "", but the current
  directory is "/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2".  You
  should double-check your ROS_PACKAGE_PATH to ensure that packages are found
  in the correct precedence order.
Call Stack (most recent call first):
  /opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
  CMakeLists.txt:4 (rosbuild_init)


-- Configuring incomplete, errors occurred!
See also "/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build2/CMakeFiles/CMakeOutput.log".

解决：类似于超级连接的作用

sudo ln -s /home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /opt/ros/kinetic/share/ORB_SLAM2

项目中ros的编译：

自己安装好ros:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

sudo apt-get update

sudo apt-get install ros-kinetic-desktop-full

sudo rosdep init

rosdep update

echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc

source ~/.bashrc

卸载：

sudo apt-get  remove ros-kinetic-desktop-full

sudo apt-get purge ros-*
sudo rm -rf /etc/ros
gedit ~/.bashrc

问题1

ros报错：

/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc: In member function ‘void ImageGrabber::GrabRGBD(const ImageConstPtr&, const ImageConstPtr&)’:
/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc:114:86: error: invalid use of member function (did you forget the ‘()’ ?)
 h = "/home/ckq/Desktop/sematicData/gazebo/rgb"+msgRGB->header.stamp.toSec+".jpg
                                                                     ^
/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/ros_rgbd.cc:115:84: error: invalid use of member function (did you forget the ‘()’ ?)
 h = "/home/ckq/Desktop/sematicData/gazebo/depth"+msgD->header.stamp.toSec+".jpg
                                                                     ^
CMakeFiles/RGBD.dir/build.make:119: recipe for target 'CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o' failed
make[2]: *** [CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

修改：


string rgbPath = "/home/ckq/Desktop/sematicData/gazebo/rgb"+to_string(msgRGB->header.stamp.toSec())+".jpg";
string dPath = "/home/ckq/Desktop/sematicData/gazebo/depth"+to_string(msgD->header.stamp.toSec())+".jpg";

问题2：

报错：

make[2]: *** No rule to make target '../../../../Thirdparty/g2o/lib/libg2o.so', needed by '../RGBD'.  Stop.
make[2]: *** Waiting for unfinished jobs....
[ 11%] Building CXX object CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o
make[2]: *** No rule to make target '../../../../Thirdparty/g2o/lib/libg2o.so', needed by '../Stereo'.  Stop.
make[2]: *** Waiting for unfinished jobs....
[ 22%] Building CXX object CMakeFiles/Stereo.dir/src/ros_stereo.cc.o
make[2]: *** No rule to make target '../../../../Thirdparty/g2o/lib/libg2o.so', needed by '../Mono'.  Stop.
make[2]: *** Waiting for unfinished jobs....
make[2]: *** No rule to make target '../../../../Thirdparty/g2o/lib/libg2o.so', needed by '../MonoAR'.  Stop.
make[2]: *** Waiting for unfinished jobs....

修改：
复制一份libg2o.so到项目的g2o下(/home/ckq/projects/ORB_SLAM2/Thirdparty/g2o/lib)     libg2o.so从原先一个orbslam2中复制得到，不知道是否有影响

问题3：

报错：

/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:214: 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]: *** Waiting for unfinished jobs....
/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:214: 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
[ 55%] Built target Mono
[ 77%] Built target MonoAR
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2


修改：
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，
在/home/ckq/projects/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt下添加
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so