2022.7.7编译ORBSLAM2遇到的坑
1.编译build.sh
1.1‘usleep’ was not declared in this scope
在相应的文件下添加#include <unistd.h>
2.编译build_ros.sh
2.1找不到文件
Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
[rosbuild] Building package ORB_SLAM2
[rosbuild] Error from directory check: /opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py /home/daiwj5/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2
1
Traceback (most recent call last):
File "/opt/ros/kinetic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in <module>
raise Exception
Exception
CMake Error at /opt/ros/kinetic/share/ros/core/rosbuild/private.cmake:102 (message):
[rosbuild] rospack found package "ORB_SLAM2" at "", but the current
directory is "/home/daiwj5/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2".
You should double-check your ROS_PACKAGE_PATH to ensure that packages are
found in the correct precedence order.
Call Stack (most recent call first):
/opt/ros/kinetic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
CMakeLists.txt:4 (rosbuild_init)
-- Configuring incomplete, errors occurred!
See also "/home/daiwj5/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found. Stop.
解决方案：
- 打开bashrc
gedit ~/.bashrc
- 在bashrc中加入如下语句
export ROS_PACKAGE_PATH=/opt/ros/kinetic/share:/home/zlj/catkin_ws/ORB_SLAM2/Examples/ROS
- 更新bashrc
source ~/.bashrc
2.2DSO missing的错误
- 错误提示：
/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
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:222: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:143: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
Makefile:135: recipe for target 'all' failed
make: *** [all] Error 2
- 解决方案：更改ORBSLAM2\Examples\ROS\ORB_SLAM2\src下的CMakeLists.txt
