ORB_SLAM2编译总结

• 编译build_ros.sh

编译build_ros.sh

出现以下错误

/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
           

这时需要修改在PATH/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2目录下的**CMakeLists.txt文件

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
# 添加
-lboost_system
)