vslam从入门到入土：使用D435的orb-slam2在ubuntu18中的安装
0.更新所有库
sudo apt update
sudo apt upgrade1.ROS
建议使用ROS官方网的步骤 melodic/Installation/Ubuntu - ROS Wiki
一定要看清楚版本 ubuntu18 是 melodic
2.Pangolin
https://github.com/stevenlovegrove/Pangolin.git
安装依赖
sudo apt-get install libglew-dev
sudo apt-get install cmake
sudo apt-get install libpython2.7-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev libavdevice-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libpng12-dev libtiff5-dev libopenexr-dev
pangolin安装：
cd Pangolin
mkdir build
cd build
cmake ..
make -j
sudo make install3. Realsense安装
参考 Ubuntu18.04 安装D435i ROS_哦*&的博客-CSDN博客
1.注册公钥：
sudo apt-key adv --keyserver keys.gnupg.net --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE || sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key F6E65AC044F831AC80A06380C8B3A55A6F3EFCDE2、添加包仓库列表
sudo add-apt-repository "deb https://librealsense.intel.com/Debian/apt-repo $(lsb_release -cs) main" -u3.添加库
sudo apt-get install git libssl-dev libusb-1.0-0-dev pkg-config libgtk-3-dev
sudo apt-get install libglfw3-dev libgl1-mesa-dev libglu1-mesa-dev
sudo apt-get install librealsense2-dkms
sudo apt-get install librealsense2-utils
sudo apt-get install librealsense2-dev
sudo apt-get install librealsense2-dbg4.运行脚本
git clone https://github.com/IntelRealSense/librealsense
cd librealsense
./scripts/setup_udev_rules.sh5.编译
mkdir build
cd build
cmake ../ -DBUILD_EXAMPLES=true
make -j
sudo make install安装realsense-ros：
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src/
git clone https://github.com/IntelRealSense/realsense-ros.git
git clone https://github.com/pal-robotics/ddynamic_reconfigure.git
cd ~/catkin_ws
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install
cd
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc测试realsense_ros:
roslaunch realsense2_camera rs_camera.launch若上列命令出现neither a launch file in package，打开终端执行下列命令再重新输入上述命令
source catkin_ws/devel/setup.bash4. orb-slam2 安装
cd ~/catkin_ws/src/
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh出现 error: ‘usleep’ was not declared in this scope usleep(5000)
在以下文件内添加头文件：
#includeExamples/Moncular/mono_euroc.cc
Examples/Moncular/mono_kitti.cc
Examples/Moncular/mono_tum.cc
Examples/RGB-D/rgbd_tum.cc
Examples/Stereo/stereo_euroc.cc
Examples/Stereo/stereo_kitti.cc
Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc
文件：/home/wyh/catkin_ws/src/ORB_SLAM2/src
src/LocalMapping.cc
src/LoopClosing.cc
src/System.cc
src/Tracking.cc
src/Viewer.cc
进入catkin_ws/src/ORB_SLAM2/include，打开Loopclsing.h, 第50行
将 const KeyFrame* 改成 KeyFrame* const
然后
chmod +x build_ros.sh
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/ORB_SLAM2/Examples/ROS
./build_ros.sh5. 摄像头在ros中启动测试
在ORB-SLAM2/Examples/ROS/ORB-SLAM2/src中修改ros_rgbd.cc的topic订阅
message_filters::Subscriber rgb_sub(nh, "/camera/color/image_raw", 1);
message_filters::Subscriber depth_sub(nh, "/camera/aligned_depth_to_color/image_raw", 1);
在Examples/RGB-D把TUM1.yaml复制多一个并且命名为D435.yaml，然后把你的D435内参填入D435.yaml。
内参获取：
roslaunch realsense2_camera rs_rgbd.launch
rostopic echo /camera/color/camera_info报错：
Resource not found: rgbd_launch
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/casso/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share
The traceback for the exception was written to the log file解决：
sudo apt install ros-melodic-rgbd-launch重新编译：
chmod +x build.sh
./build.sh
chmod +x build_ros.sh
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/catkin_ws/src/ORB_SLAM2/Examples/ROS
./build_ros.shorb-slam2运行：
把所有终端关闭
1.打开ros
roscore2.打开摄像头
新终端输入：
roslaunch realsense2_camera rs_rgbd.launch3.在catkin_ws/src/ORB_SLAM2中打开终端运行以下命令，把字典、相机内参导入orb-slam2。
新终端输入：
rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/D435.yaml----------------------------------------------------------------------------------------------------------------------------
结尾感谢：
作者：高翔博士 《视觉SLAM十四讲》
作者：哦*& ubuntu18.04 D435i ROS ORB-SLAM2_哦*&的博客-CSDN博客