ubuntu18.04+ORB_SLAM2 配置ROS出错

编译环境:

- ubuntu18.04

-ORB_SLAM2

运行build-ros.sh时出现问题一:

[rosbuild] rospack found package "ORB_SLAM2" at "", but the current   directory is "/home/angelo/ORB_SLAM2/Examples/ROS/ORB_SLAM2".  You should   double-check your ROS_PACKAGE_PATH to ensure that packages are found in the   correct precedence order.

解决方案:

输入 sudo ln -s ~/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /opt/ros//share/ORB_SLAM2

 

运行build-ros.sh时出现问题二:

/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:217: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:217: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
 

解决方案:打开Examples/ROS/ORB_SLAM2的Cmakelists,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
-lboost_system
)

加上红色一行即可.