Ubuntu16.04系统下搭建ORB_SLAM2

1. Ubuntu的配置
   (1)基础工具
   安装vim、cmake、git、gcc、g++：

    sudo apt-get install vim git cmake 
    sudo apt-get install gcc g++ 

(2)配置软件源
输入命令
sudo cp sources.list sources.list.bak
就是将sources.list备份到sources.list.bak
然后
sudo gedit sources.list
将镜像源更改为清华的镜像源：

# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-security main restricted universe multiverse
 
# 预发布软件源，不建议启用
# deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ xenial-proposed main restricted universe multiverse

使用下面的命令添加ROS软件源

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.tuna.tsinghua.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

(3)设置秘钥

sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

也可用

wget http://packages.ros.org/ros.key -O - | sudo apt-key add -

(4)更新索引

sudo apt-get update

2. ROS的安装
   (1)ROS的安装

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

(2)初始化rosdep

sudo rosdep init
rosdep update

(3)设置环境

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

(4)依赖项的安装

sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential 

(5)测试ROS
分别打开三个终端输入下面三个语句

roscore
rosrun turtlesim turtlesim_node
rosrun turtlesim turtle_teleop_key

3. ORB-SLAM2的安装
   (1)创建工作区间

mkdir -p ~/SLAM/src
cd ~/SLAM/src
catkin_init_workspace
cd ..
catkin_make
echo "source ~/SLAM/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

(2)依赖项的安装
2.1Pangolin的安装
依赖项的安装

sudo apt-get install libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev 

下载Pangolin

cd ~/SLAM/src
git clone https://github.com/stevenlovegrove/Pangolin

编译并安装Pangolin

cd Pangolin
mkdir build
cd build
cmake ..
make
sudo make install

2.2opencv的安装
我选择的是opencv3.2.0
安装编译工具

sudo apt-get install build-essential 

安装依赖包

sudo apt-get install libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev 

编译并安装opencv3.2.0

cd opencv-3.2.0/
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local .. 
make
sudo make install

2.3eigen

sudo apt-get install libeigen3-dev

(3)最后的安装
下载

cd ~SLAM/src
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2

编译前需要打开build.sh文件,将所有的make -j变成make,之后修改 文件并运行编译

chmod +x build.sh
./build.sh