编译ORB_SLAM2

环境：ubuntu16.04  ROS kinetic

1. 建立 ROS 工作空间：

cd projects/ORB_SLAM2ws
mkdir src
catkin_make

2.在 /src 目录下：

git clone https://github.com/raulmur/ORB_SLAM2.git

３．构建 ORB_SLAM2:

cd ORB_SLAM2
sudo chmod +x build.sh
./build.sh

chmod +x build_ros.sh
./build_ros.sh

cd 
gedit .bashrc
在末尾加上：
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/【本机】/projects/ORB_SLAM2ws/src/ORB_SLAM2/Examples/ROS

编译　./build_ros.sh　时可能报错

解决方法是修改/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CmakeLists.txt,添加一句

＃新加
find_package(Boost COMPONENTS filesystem system REQUIRED)　
set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
#新加
${Boost_LIBRARIES} 
${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
)