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1 安装依赖： a、GLEW：sudo apt-get install libglew-devb、Boost：sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-devc、Python2.7：sudo apt-get install libpython2.7-devd、编译基础库sudo apt-get

/home/pioneer/catkin_ws/src/iai_kinect2/kinect2_bridge/launch目录下新建文件kinect_orbslam2.launch , 其内容为<launch> <param name="orb_use_viewer" value="false"/> <node pkg="ORB_SLAM2" type="RGBD" name="ORB_