ORB_SLAM2尝试

打算在笔记本的摄像头上先跑下，编译ros包时出现问题

~/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build$ make -j4
[  0%] Built target rospack_genmsg_libexe
[  0%] Built target rosbuild_precompile
Scanning dependencies of target Mono
[ 11%] Linking CXX executable ../RGBD
[ 22%] Linking CXX executable ../Stereo
[ 55%] Built target MonoAR
[ 66%] Building CXX object CMakeFiles/Mono.dir/src/ros_mono.cc.o
/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
/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
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:215: 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....
CMakeFiles/Stereo.dir/build.make:215: 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
[ 77%] Linking CXX executable ../Mono
[ 77%] Built target Mono
Makefile:127: recipe for target 'all' failed
make: *** [all] Error 2

原因是缺少lboos的库文件，解决如下：

增加-lboost_system
 
如下：
 
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
-lboost_system
)
 参考链接：https://github.com/raulmur/ORB_SLAM2/issues/494