ORB_SLAM2 填坑（更新中）

ORB_SLAM2 填坑（更新中）

1、
解决方法：

 sudo rm /var/cache/apt/archives/lock
 sudo rm /var/lib/dpkg/lock

2、
在home界面下ctrl+h打开隐藏文件的,bashrc文件，作如下更改：在最后一行添加

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/自己的用户名/ORB_SLAM2/Examples/ROS/ORB_SLAM2

终端输入：source ~/.bashrc 使环境生效

3、若在执行./build.sh时出现卡机现象
打开build.sh文件将最后的make -j改为make

4、编译pangolin时的错误

 sudo apt-get install  libsqlite3-dev libglew*-dev libssl-dev libgl2ps-dev libxi-dev g++ libzip-dev

5、./build_ros.sh时出错

将/usr/lib/x86_64-linux-gnu/目录下的
libboost_system.so、libboost_system.so.1.58.0与libboost_filesystem.so、libboost_filesystem.so.1.58.0复制到ORBSLAM2/Examples/ROS/ORBSLAM2/lib下，并且将ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入库目录，具体为
在

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so

之后加入

${PROJECT_SOURCE_DIR}/lib/libboost_filesystem.so
${PROJECT_SOURCE_DIR}/lib/libboost_system.so

问题得以解决

原文链接：https://blog.csdn.net/sinat_38343378/article/details/78883919