ORB_SLAM2编译出现问题

灰太狼 2023-02-27 08:25 2阅读 0赞

在: ./build\_ros.sh 出现错误：

## 错误1： ##

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/nvidia/ORBSLAM2/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
    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/nvidia/ORBSLAM2/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/nvidia/ORBSLAM2/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/CMakeFiles/CMakeOutput.log”.
    make: *** No targets specified and no makefile found. Stop.

## 解决办法: ##

sudo ln -s /home/zqzy/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2 /opt/ros/kinetic/share/ORB_SLAM2

然后继续 ./build\_ros.sh  
若提示build目录已经存在，那是因为你先前编译生成了build，但是是残缺的  
解决：  
/ORB\_SLAM2/Examples/ROS/ORB\_SLAM2 找到build删除重新编译  
若再不能编译成功，参照错误2

## 错误2： ##

/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:218: 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….
    /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
    CMakeFiles/Stereo.dir/build.make:218: 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:127: recipe for target ‘all’ failed
    make: * [all] Error 2

## 解决方法： ##

执行如下命令：

搜索这四个文件，把这四个文件复制到/home/zqzy/catkin\_ws/src/ORB\_SLAM2/lib：  
libboost\_system.so  
libboost\_system.so.1.58.0  
libboost\_filesystem.so  
libboost\_filesystem.so.1.58.0

sudo find / -name libboost_system.so
    
    sudo find / -name libboost_system.so.1.58.0
    
    sudo find / -name libboost_filesystem.so
    
    sudo find / -name libboost_filesystem.so.1.58.0

![watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3podWlxaXV6aHVveXVlNTgz_size_16_color_FFFFFF_t_70][]

sudo cp /usr/lib/x86_64-linux-gnu/libboost_system.so /home/zqzy/catkin_ws/src/ORB_SLAM2/lib
     
    sudo cp /usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0 /home/zqzy/catkin_ws/src/ORB_SLAM2/lib
     
    sudo cp /usr/lib/x86_64-linux-gnu/libboost_filesystem.so /home/zqzy/catkin_ws/src/ORB_SLAM2/lib
     
    sudo cp /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0 /home/zqzy/catkin_ws/src/ORB_SLAM2/lib

修改ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt：

将Cmakelists.txt中的

改为：

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
    ${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so
    ${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so
    )

继续重新编译

## 错误3： ##

/home/zqzy/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc: In member function ‘void ORB_SLAM2::ViewerAR::Run()’:
    /home/zqzy/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc:233:23: error: ‘usleep’ was not declared in this scope
             usleep(mT*1000);
                           ^
    CMakeFiles/MonoAR.dir/build.make:200: recipe for target 'CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o' failed
    make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
    CMakeFiles/Makefile2:820: recipe for target 'CMakeFiles/MonoAR.dir/all' failed
    make[1]: *** [CMakeFiles/MonoAR.dir/all] Error 2
    Makefile:129: recipe for target 'all' failed
    make: *** [all] Error 2

## 解决方法： ##

> 找到相应的cc文件，添加头文件 **\#include <unistd.h>**，即可

最终/ORB\_SLAM2/Examples/ROS/ORB\_SLAM2 目录下有这些文件就说明编译成功了

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzUxMzcyNQ_size_16_color_FFFFFF_t_70]

参考：[https://blog.csdn.net/weixin\_43513725/article/details/93896650][https_blog.csdn.net_weixin_43513725_article_details_93896650]

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[watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzUxMzcyNQ_size_16_color_FFFFFF_t_70]: https://img-blog.csdnimg.cn/20190627195357603.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L3dlaXhpbl80MzUxMzcyNQ==,size_16,color_FFFFFF,t_70
[https_blog.csdn.net_weixin_43513725_article_details_93896650]: https://blog.csdn.net/weixin_43513725/article/details/93896650