ORB-SLAM2配置全过程

一、安装WSL

1、安装 WSL | Microsoft Learn

2、设置su密码：su passwd

二、安装前准备

1、换源

apt install vim
vim /etc/apt/sources.list
# 阿里镜像源
deb http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-security main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-updates main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-proposed main restricted universe multiverse
deb-src http://mirrors.aliyun.com/ubuntu/ bionic-backports main restricted universe multiverse

apt update
apt upgrade

2、安装必要零部件

apt update
apt install vim gedit git cmake tree aptitude
apt install -y build-essential

3、安装Pangolin(v0.5)

sudo apt-get install libglew-dev
sudo apt-get install libpython2.7-dev
sudo apt-get install ffmpeg libavcodec-dev libavutil-dev libavformat-dev
sudo apt-get install libdc1394-22-dev libraw1394-dev
sudo apt-get install libjpeg-dev libtiff5-dev libopenexr-dev

git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin
mkdir build
cd build
cmake ..
make -j
make install

4、安装Opencv(3.4.4)

https://github.com/opencv/opencv/releases/tag/3.4.4

sudo apt-get install build-essential libgtk2.0-dev libavcodec-dev libavformat-dev libjpeg-dev libswscale-dev libtiff5-dev
sudo apt-get install libgtk2.0-dev
sudo apt-get install pkg-config

mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local ..
make -j
make install

5、安装Eigen3

参考 http://eigen.tuxfamily.org

注意也要 make install

6、安装g2o的相关依赖项

apt install libeigen3-dev
apt install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5

三、安装ORB-SLAM2

1、安装步骤

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

cd ORB_SLAM2
sh build.sh

2、'usleep'报错

(25条消息) ORB-slam2编译时报错‘usleep’ was not declared in this scope__Evanism.�的博客-优快云博客

3、'CV_'类报错

原因是opencv版本过高，比如安装了4.5版本等

opencv常见用法和opencv3-＞opencv4版本切换_xlsemmmmmm的博客-优快云博客_切换opencv版本

4、测试数据集

(21条消息) SLAM学习--常用数据集_Robot-G的博客-优快云博客_slam数据集

或者参考官方测试步骤：raulmur/ORB_SLAM2: Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities (github.com)

四、安装ROS

1、安装步骤

 cn/melodic/Installation/Ubuntu - ROS Wiki

2、rosdep update 报错问题

rosdep init/update 解决方法_CCsherlock的博客-优快云博客

五、编译orb-slam2的ros部分

1、编译

vi ~/.bashrc

# 在末尾添加
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/xfy/catkin_ws/src/ORB_SLAM2/Examples/ROS

source ~/.bashrc
cd /home/xfy/catkin_ws/src/ORB-SLAM2/
sh build_ros.sh

cd /home/xfy/catkin_ws/
catkin_make

2、测试

运行代码与数据集参考官方：raulmur/ORB_SLAM2: Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities (github.com)

六、安装evo

apt install python-pip
pip install evo --upgrade --no-binary evo

运行命令参考官网：MichaelGrupp/evo: Python package for the evaluation of odometry and SLAM (github.com)

七、安装yolov3

leggedrobotics/darknet_ros: YOLO ROS: Real-Time Object Detection for ROS (github.com)

八、安装仿真环境

(21条消息) gazebo+ORB-SLAM仿真教程_Mr.Qin_的博客-优快云博客

如遇问题可参考github解决：Issues · DroidAITech/ROS-Academy-for-Beginners (github.com)