ROS环境下编译使用了多个版本的ORB-SLAM2工程造成(You should double-check your ROS_PACKAGE_PATH...)

[rosbuild] Error from directory check: /opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py /opt/ros/kinetic/share/ORB_SLAM2 /home/ckq/TextSLAM/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2
1
Traceback (most recent call last):
  File "/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 48, 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
  "/opt/ros/kinetic/share/ORB_SLAM2", but the current directory is
  "/home/ckq/TextSLAM/ORB_SLAM2-master/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)

今天重新编译一个新的orbslam2时出现该问题

分析：
这是由于在ROS环境下编译使用了多个版本的ORB-SLAM2工程造成的，再对新的工程编译，就报了这个错误。因为原工程已经在/opt/ros/kinetic/share文件夹下建立了一个软连接ORB_SLAM2，这里包含的事我自己原来工程的一些信息，我们需要做的就是把该软连接，替换为现在工程的软连接。

（不知道之前怎么就创建了软连接，在bashrc下没写ROS_PACKAGE_PATH路径）

(1)先cd到/opt/ros/kinetic/share目录下，删除原来的ORB_SLAM2软连接

sudo rm -r ORB_SLAM2

(2)对当前工程在/opt/ros/kinetic/share目录下建立软连接

sudo ln -s /home/...(具体路径)....../Examples/ROS/ORB_SLAM2 /opt/ros/kinetic/share/ORB_SLAM2

或者在bashrc中添加ROS_PACKAGE_PATH

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/ckq/TextSLAM/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2

参考戳这里