ORBSLAM2中build_ros.sh编译问题解决

整理至https://blog.csdn.net/sinat_38343378/article/details/78883919

报错如下

   /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:216: 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]: *** 正在等待未完成的任务....
    /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:216: 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
    [ 55%] Built target Mono
    [ 77%] Built target MonoAR
    Makefile:127: recipe for target 'all' failed
    make: *** [all] Error 2

• 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
/usr/local/MATLAB/R2017a/bin/glnxa64/libboost_system.so.1.56.0

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
/usr/local/MATLAB/R2017a/bin/glnxa64/libboost_filesystem.so.1.56.0

将libboost_system.so，libboost_system.so.1.58.0和libboost_filesystem.so，libboost_filesystem.so.1.58.0复制到ORB_SLAM2/lib下，并且将ORBSLAM2/Examples/ROS/ORBSLAM2/Cmakelists.txt中加两行代码

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 

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