ORBSLAM2编译与ROS编译

报错1：orbslam2 fatal error: …/…/config.h: 没有那个文件或目录

这是因为g2o没有编译完整,进入ORB_SLAM2文件夹,重新执行 ./build.sh

报错2：usleep

在对应的.h文件里面添加：

#include <unistd.h>

报错3：

`/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:218: 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:218: 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
Makefile:127: recipe for target ‘all’ failed
make: * [all] Error 2

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
/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和libboost_system.so.1.58.0与libboost_filesystem.so和libboost_filesystem.so.1.58.0一起复制到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

编译按照GitHub上的编译就行了