ORBslam2安装中的问题和报错

安装中出现的报错问题以及解决方案

无法找到lib

• 报错信息

  make[1]: *** Waiting for unfinished jobs....
  collect2: error: ld returned 1 exit status
  CMakeFiles/Stereo.dir/build.make:203: 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:129: recipe for target 'all' failed
  make: *** [all] Error 2

• 解决方案

在Examples/ROS/ORB_SLAM2/CMakeLists.txt文件中添加编译信息-lboost_systema

    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_systema ## 添加这一项
  )

无法找到ros package 或者ros

• 测试方式

      echo $ROS_ROOT
        /opt/ros/melodic/share/ros
      echo $ROS_PACKAGE_PATH
        /opt/ros/melodic/share:/home/test/slam/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2

• 解决方案

  用户目录的.bashrc中添加

  # 有顺序要求 添加ros_root path
  source /opt/ros/melodic/setup.bash
  # 添加ros_package_path
  export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/test/slam/ORB_SLAM2-master/Examples/ROS/ORB_SLAM2

  应用添加的环境变量
  source ~/.bashrc

编译pongoline出错

• 解决方案

    git clone https://github.com/stevenlovegrove/Pangolin.git
    cd Pangolin
    mkdir build
    cd build
    cmake -DCPP11_NO_BOOST=1 ..
    make -j1
    Then,
    cd ORB_SLAM2
    chmod +x build.sh
    ./build.sh

Resource not found: rgbd_launch

• 解决方案

    sudo apt-get install ros-melodic-rgbd-launch