orbslam2 ROS下RGBD实验记录(三) KINECT2通过ROS在线跑ORBSLAM2

1.配置ROS_PACKAGE_PATH环境变量

source ~/.bashrc

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/user/ORB_SLAM2/Examples/ROS

否则会出错说找不到路径和包

2.进入ORB_SLAM2主路径编译ros节点：

chmod +x build_ros.sh

./build_ros.sh

确保原程序可以编译

可能出来如下问题：/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol ‘_ZN5boost6system15system_categoryEv’

- 出错原因为：libboost_system.so 与libboost_filesystem.so找不到链接目录

- 解决方案为

locate boost_system

//查找到目录

/usr/lib/x86_64-linux-gnu/libboost_system.a

/usr/lib/x86_64-linux-gnu/libboost_system.so

/usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0

locate boost_filesystem

//查找到目录

/usr/lib/x86_64-linux-gnu/libboost_filesystem.a

/usr/lib/x86_64-linux-gnu/libboost_filesystem.so

/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0

将libboost_system.so与libboost_filesystem.so复制到ORB_SLAM2/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

3.打开一个终端，运行：roslaunch kinect2_bridge kinect2_bridge.launch

4.再打开另一个终端，输入：rostopic list查看此时Kinect2发布的topic，我用的是/kinect2/qhd/image_color_rect和/kinect2/qhd/image_depth_rect

5.找到源文件ros_rgbd.cc，按照上面的topic修改里面的ros订阅的内容

6.重新编译工程

./build_ros.sh

7.在~/ORB_SLAM2/Examples/ROS$ 目录下，运行

rosrun ORB_SLAM2 RGBD /home/user/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/user/ORB_SLAM2/Examples/RGB-D/kinect2_qhd.yaml

即可得到实时在线轨迹。

参考链接：

https://www.cnblogs.com/bigzhao/p/6635770.html

http://blog.csdn.net/sinat_38343378/article/details/78883919