SLAM环境配置--一键配置完成ORBSLAM2+ROS+kinectV2测试

运行安装脚本

#!/bin/bash

sudo apt-get --yes --force-yes install libglew-dev
sudo apt-get --yes --force-yes install  libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo  apt-get --yes --force-yes install  libpython2.7-dev
sudo  apt-get --yes --force-yes install  build-essential

cd ~

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make

cd ~

git clone https://github.com/raulmur/ORB_SLAM2.git
cd ORB_SLAM2
chmod +x build.sh
./build.sh

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ORB_SLAM2/Examples/ROS
chmod +x build_ros.sh
./build_ros.sh

  echo "source ~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel/setup.sh" >> ~/.bashrc
 source ~/.bashrc 

修改ORBSLAM2的内容