orbslam3 ros编译和运行小技巧

– Configuring incomplete, errors occurred!

//问题
See also “/home/你的用户名/ORB_SLAM3/Examples/ROS/ORB_SLAM3/build/CMakeFiles/CMakeOutput.log”.
make: *** 没有指明目标并且找不到 makefile。 停止。

这个说明你的环境出现了问题，需要把ROS路径添加到bashrc。需要注意的是有路径也不行，你需要把路径放到最后一行。

1. sudo gedit ~/.bashrc
2.export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/cuiyunxuan/ORB_SLAM3/Examples/ROS

编写shell脚本，一条命令启用多个终端

gnome-terminal -- bash -c "cd /home/knight/MYNT-EYE-S-SDK/;source ./wrappers/ros/devel/setup.bash;roslaunch mynt_eye_ros_wrapper mynteye.launch; exec bash"

cd /home/knight/MYNT-EYE-ORB-SLAM2-Sample/

rosrun ORB_SLAM2 mynteye_s_stereo ./Vocabulary/ORBvoc.txt ./config/mynteye_s_stereo.yaml false /mynteye/left_rect/image_rect /mynteye/right_rect/image_rect