运行semantic SLAM流程记录

• 指定orb文件路径

~ $ gedit .bashrc

 export ROS_PACKAGE_PASH 

~ $ source .bashrc

1. 命名不要使用空格；
2. 修改文件名后，需要重新编译；

• 编译orb slam2

~/semantic_slam $ sudo rm -r build/ devel/
~/semantic_slam $ catkin_make

• 运行orb slam2

~/semantic_slam $ source devel/setup.bash
~/semantic_slam $ roslaunch semantic_slam semantic_mapping.launch

• models

~/semantic_slam/src/semantic_slam/models $ rosbag play demo.bag