ROS与VSLAM入门教程-ubuntu16.04安装ORB-SLAM2

ROS与VSLAM入门教程-ubuntu16.04安装ORB-SLAM2

说明：

• 介绍如何在ubuntu16.04系统下安装ORB-SLAM2

环境：

• Ubuntu16.04 + ROS kinetic
• Kinect V1.

准备：

• 安装Boost

sudo apt-get install libboost-all-dev

• 安装Pangolin：

git clone https://github.com/stevenlovegrove/Pangolin.git 
cd Pangolin 
mkdir build 
cd build 
cmake .. 
make -j 

• ROS安装后，带有opencv 3.2
• 一般都已经安装Eigen3，未安装参考

sudo apt-get install libeigen3-dev
cd /usr/include/eigen3   
#ls查看，含有3个文件： Eigen  signature_of_eigen3_matrix_library  unsupported

    

• DBoW2和g2o (included in Thirdparty) 在ORB-SLAM2的Thirdparty文件夹里面，无需安装。

安装ORB-SLAM2：

• 下载编译ORB-SLAM2：

cd ~
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2
cd ORB_SLAM2
chmod +x build.sh
./build.sh

安装ROS

• 添加路径到 .bashrc

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS

• 执行编译

chmod +x build_ros.sh
./build_ros.sh

• 运行 Monocular Node

rosrun ORB_SLAM2 Mono PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

• 输入图像话题是/camera/image_raw
• 运行 Monocular Augmented Reality Demo

rosrun ORB_SLAM2 MonoAR PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

• 输入图像话题是/camera/image_raw
• 这是增强现实的演示，您可以使用界面在场景的平面区域中插入虚拟立方体
• 运行 Stereo Node

rosrun ORB_SLAM2 Stereo PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE ONLINE_RECTIFICATION

• 输入话题/camera/left/image_raw and /camera/right/image_raw
• 运行RGB_D Node

rosrun ORB_SLAM2 RGBD PATH_TO_VOCABULARY PATH_TO_SETTINGS_FILE

• 输入话题/camera/rgb/image_raw and /camera/depth_registered/image_raw

问题：

• 错误：Undefined reference to symbol '_ZN5boost6system15system_categoryEv' #494

• 解决：

  vim Examples/ROS/ORB_SLAM2/CMakeLists.txt

  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
  )

• 增加-lboost_system，在重新编译。

参考：

• https://github.com/raulmur/ORB_SLAM2.git
• http://www.cnblogs.com/zengcv/p/6021512.html