参考:1http://blog.csdn.net/wishchin/article/details/50161889
http://www.liuxiao.org/2016/07/ubuntu-orb-slam2-%E5%9C%A8-ros-%E4%B8%8A%E7%BC%96%E8%AF%91%E8%B0%83%E8%AF%95/
http://blog.csdn.net/u010128736/article/details/53157605
安装::
1. 新建一个文件夹 common_space 用来下源码 在common_space下
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
2. 根据readme.md 安装依赖项
一般步骤: 1.在工程下 mkdir build , cd build ,cmake .. , make,
2,安装到系统库中使用 sudo make install
3. 声明ROS环境 在.bashrc中添加
//export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xx/common_space/ORB_SLAM2
4. 在ORB_SLAM2下执行
chmod +x build_ros.sh
./build_ros.sh