编译orb_slam2_ros报错：对DBoW未定义的引用

报错现象：

[100%] Linking CXX executable /home/bruce/study/orb/orb_slam_2_ros/devel/lib/orb_slam2_ros/orb_slam2_ros_stereo
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::toArray8U(cv::Mat const&, unsigned char*)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::L’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::RandomInt(int, int)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::SeedRandOnce()’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::SeedRandOnce(int)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::fromArray8U(cv::Mat&, unsigned char*)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/orb_slam2_ros_rgbd.dir/build.make:205: recipe for target '/home/bruce/study/orb/orb_slam_2_ros/devel/lib/orb_slam2_ros/orb_slam2_ros_rgbd' failed
make[2]: *** [/home/bruce/study/orb/orb_slam_2_ros/devel/lib/orb_slam2_ros/orb_slam2_ros_rgbd] Error 1
CMakeFiles/Makefile2:68: recipe for target 'CMakeFiles/orb_slam2_ros_rgbd.dir/all' failed
make[1]: *** [CMakeFiles/orb_slam2_ros_rgbd.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::toArray8U(cv::Mat const&, unsigned char*)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::L’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::RandomInt(int, int)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::SeedRandOnce()’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::SeedRandOnce(int)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::fromArray8U(cv::Mat&, unsigned char*)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/orb_slam2_ros_mono.dir/build.make:205: recipe for target '/home/bruce/study/orb/orb_slam_2_ros/devel/lib/orb_slam2_ros/orb_slam2_ros_mono' failed
make[2]: *** [/home/bruce/study/orb/orb_slam_2_ros/devel/lib/orb_slam2_ros/orb_slam2_ros_mono] Error 1
CMakeFiles/Makefile2:144: recipe for target 'CMakeFiles/orb_slam2_ros_mono.dir/all' failed
make[1]: *** [CMakeFiles/orb_slam2_ros_mono.dir/all] Error 2
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::toArray8U(cv::Mat const&, unsigned char*)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::L’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::RandomInt(int, int)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::SeedRandOnce()’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DUtils::Random::SeedRandOnce(int)’未定义的引用
/home/bruce/study/orb/orb_slam_2_ros/src/orb_slam2/lib/liborb_slam2_ros.so：对‘DBoW2::FORB::fromArray8U(cv::Mat&, unsigned char*)’未定义的引用
collect2: error: ld returned 1 exit status
CMakeFiles/orb_slam2_ros_stereo.dir/build.make:205: recipe for target '/home/bruce/study/orb/orb_slam_2_ros/devel/lib/orb_slam2_ros/orb_slam2_ros_stereo' failed
make[2]: *** [/home/bruce/study/orb/orb_slam_2_ros/devel/lib/orb_slam2_ros/orb_slam2_ros_stereo] Error 1
CMakeFiles/Makefile2:106: recipe for target 'CMakeFiles/orb_slam2_ros_stereo.dir/all' failed
make[1]: *** [CMakeFiles/orb_slam2_ros_stereo.dir/all] Error 2
Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed

解决办法：

在CMakeLists.txt中添加：${PROJECT_SOURCE_DIR}/orb_slam2/Thirdparty/DBoW2/lib/libDBoW2.so

如下：

set(LIBS_ROS
${PROJECT_SOURCE_DIR}/orb_slam2/lib/lib${PROJECT_NAME}.so
${PROJECT_SOURCE_DIR}/orb_slam2/Thirdparty/DBoW2/lib/libDBoW2.so
${OpenCV_LIBS}
${catkin_LIBRARIES}

)

再次编译运行即可解决问题。