ROS编译ORB-SLAM2或其各种变种的算法遇到的编译问题

编译时出现类似环境变量出错的提示

如下

Traceback (most recent call last):
File “/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py”, line 46, in
raise Exception
Exception
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message):
[rosbuild] rospack found package “ORB_SLAM2_PointMap_SegNetM” at “”, but
the current directory is
“/home/xxx/catkin_ws/src/DS-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM”.
You should double-check your ROS_PACKAGE_PATH to ensure that packages are
found in the correct precedence order.
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原文链接：https://blog.csdn.net/Run_with_you/article/details/120342614

许多方案说是没设置环境变量，在bashrc或其他一些文件中加入环境变量

如在bashrc中加入

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:path_to_project/catkin_ws/src/ORB_SLAM2/Examples/ROS

并且用

echo $ROS_PACKAGE_PATH

进行检查环境变量，可我加过了就是检查不出来

---

后找到了一个解决方案。之前运行过ORB的其他变种SLAM，那时ROS就会在/opt/ros/melodic/share文件夹下建立了一个软连接ORB_SLAM2，现在的工程需要把原来的软链接换成当前你的工作空间下的路径

具体操作如下

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

注意：这里的ORB-SLAM2，就是这样，千万不要补全，会补一个/ ，带/的话，会把真是文件夹下的都删除了，而我们只是需要删除软链接

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

sudo ln -s /home/xxx/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /opt/ros/melodic/share/ORB_SLAM2

参考链接：

http://www.soolco.com/post/29527_1_1.html
https://blog.csdn.net/Run_with_you/article/details/120342614