安装Orb-slam2.md

安装Orb-slam2

Part1:安装orb-slam2的依赖库

sudo apt-get install libeigen3-dev 

Part2：需要安装zed与opencv

Part3：安装orb-slam2

#创建工作空间，将代码克隆到src下

mkdir -p orbslam_ws/src 
cd orbslam_ws/src 
catkin_init_workspace 
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2 
cd ORB_SLAM2 
chmod +x build.sh 
 ./build.sh 
cd ../ 
catkin_make 

#添加运行环境#PATH为你得安装目录

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS//添加运行环境 

#将setup.bash添加到~/.bashrc中

source ~/.bashrc 

#编译ROS驱动

在ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中添加一行，-lboost_system

#编译前还得手动export一下运行环境

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/ORB_SLAM2/Examples/ROS//添加运行环境 
./build_ros.sh 

#编译完成