ubuntu18.04配置ros与ORB-SLAM2

1.配置ROS（melodic）

1.1 安装源

注意：尽量使用官方源，其他源有可能出问题

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

1.2 设置key

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654

1.3 安装ROS

sudo apt update
sudo apt install ros-melodic-desktop-full

1.4 环境设置

• 配置环境变量，方便在任意 终端中使用 ROS

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

1.5 安装依赖

sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential

1.6 初始化rosdep

sudo rosdep init
rosdep update

注意：1.6步应该会出现如下异常

ERROR: cannot download default sources list from:
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list
Website may be down.

解决办法：

sudo pip install rosdepc
sudo rosdepc init
rosdepc update

2.Pangolin安装

2.1 从Pangolin0.6下载pangolin稳定版

2.2 配置

# 安装依赖项
sudo apt-get install libglew-dev
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev libswscale-dev
sudo apt-get install libpng-dev

# 配置并编译
cd Pangolin 
mkdir build && cd build
cmake -DCPP11_NO_BOOST=1 ..
make -j
sudo make install
# 验证
cd examples/HelloPangolin
mkdir build && cd build
cmake ..
make
./HelloPangolin

3.Opencv3.4.5安装

3.1源码下载地址：Opencv

3.2配置

# 安装依赖项
sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg.dev libtiff5.dev libswscale-dev libjasper-dev 
sudo apt install libcanberra-gtk-module libcanberra-gtk3-module 
# 配置并编译
mkdir build && cd build 
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j
sudo make install

4.Sophus库安装

4.1 安装fmt库

注意：不要使用git直接下载，必须下载8.1.1版本才可正常使用。下载地址：fmt

cd fmt
mkdir build
cd build
cmake ..
make
sudo make install

4.2 安装Sophus库

git clone https://github.com/strasdat/Sophus.git
cd Sophus/
mkdir build
cd build
cmake ..
make
sudo make install

5.ORB-SLAM2

注意：直接下载的源码肯定会遇到两个bug，先修改再编译

bug1

• 解决办法

将 ORB_SLAM2/include/LoopClosing.h::47 处的
typedef map<KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<const KeyFrame*, g2o::Sim3>>> KeyFrameAndPose;
改为
typedef map<KeyFrame *, g2o::Sim3, std::less<KeyFrame *>, Eigen::aligned_allocator<std::pair<KeyFrame *const, g2o::Sim3>>> KeyFrameAndPose;

bug2： ‘usleep’ was not declared in this scope

• 解决办法

在下面这些文件中添加头文件：#include<unistd.h>

Examples/Monocular/mono_euroc.cc
Examples/Monocular/mono_kitti.cc
Examples/Monocular/mono_tum.cc
Examples/RGB-D/rgbd_tum.cc
Examples/Stereo/stereo_euroc.cc
Examples/Stereo/stereo_kitti.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/System.cc
src/Tracking.cc
src/Viewer.cc

编译ORB-SLAM2

cd ORB_SLAM2
chmod +x build.sh
./build.sh

6.pcl库安装

6.1 安装依赖项

sudo apt-get update  
sudo apt-get install git build-essential linux-libc-dev  
sudo apt-get install cmake cmake-gui   
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev  
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common    
sudo apt-get install libflann1.8 libflann-dev  
sudo apt-get install libeigen3-dev  
sudo apt-get install libboost-all-dev  
sudo apt-get install libvtk5.10-qt4 libvtk5.10 libvtk5-dev  
sudo apt-get install libqhull* libgtest-dev  
sudo apt-get install freeglut3-dev pkg-config  
sudo apt-get install libxmu-dev libxi-dev   
sudo apt-get install mono-complete  
sudo apt-get install qt-sdk openjdk-8-jdk openjdk-8-jre 

6.2 下载pcl源码并编译

git clone https://github.com/PointCloudLibrary/pcl.git  

cd pcl
mkdir release
cd release
cmake -DCMAKE_BUILD_TYPE=None -DCMAKE_INSTALL_PREFIX=/usr \
      -DBUILD_GPU=ON -DBUILD_apps=ON -DBUILD_examples=ON \
      -DCMAKE_INSTALL_PREFIX=/usr ..
make
sudo make install