编译 ROS ORB_SLAM2 时未定义的引用

Question

我正在尝试编译 this 版本的 ORB SLAM2，在修复了一些库导入错误后，我得到了这个：

CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: In function `main':
ros_stereo.cc:(.text.startup+0xc49): undefined reference to `ORB_SLAM2::System::System(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ORB_SLAM2::System::eSensor, bool)'
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:231: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/MonoAR.dir/src/AR/ros_mono_ar.cc.o: In function `main':
ros_mono_ar.cc:(.text.startup+0xd88): undefined reference to `ORB_SLAM2::System::System(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ORB_SLAM2::System::eSensor, bool)'
collect2: error: ld returned 1 exit status
CMakeFiles/MonoAR.dir/build.make:313: recipe for target '../MonoAR' failed
make[2]: *** [../MonoAR] Error 1
CMakeFiles/Makefile2:499: recipe for target 'CMakeFiles/MonoAR.dir/all' failed
make[1]: *** [CMakeFiles/MonoAR.dir/all] Error 2
CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: In function `main':
ros_rgbd.cc:(.text.startup+0x111): undefined reference to `ORB_SLAM2::System::System(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ORB_SLAM2::System::eSensor, bool)'
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:231: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
CMakeFiles/Mono.dir/src/ros_mono.cc.o: In function `main':
ros_mono.cc:(.text.startup+0x111): undefined reference to `ORB_SLAM2::System::System(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, ORB_SLAM2::System::eSensor, bool)'
collect2: error: ld returned 1 exit status
CMakeFiles/Mono.dir/build.make:231: recipe for target '../Mono' failed
make[2]: *** [../Mono] Error 1
CMakeFiles/Makefile2:430: recipe for target 'CMakeFiles/Mono.dir/all' failed
make[1]: *** [CMakeFiles/Mono.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

这是我的 ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt 的样子：

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

rosbuild_init()

IF(NOT ROS_BUILD_TYPE)
  SET(ROS_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${ROS_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall  -O3 -march=native")

# Check C++11 or C++0x support
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
   add_definitions(-DCOMPILEDWITHC11)
   message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
   add_definitions(-DCOMPILEDWITHC0X)
   message(STATUS "Using flag -std=c++0x.")
else()
   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/../../../cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
   find_package(OpenCV 2.4.3 QUIET)
   if(NOT OpenCV_FOUND)
      message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
   endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

set(LIBS 
${OpenCV_LIBS} 
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
-lboost_system
)

# Node for monocular camera
rosbuild_add_executable(Mono
src/ros_mono.cc
)

target_link_libraries(Mono
${LIBS}
-lboost_system
)

# Node for monocular camera (Augmented Reality Demo)
rosbuild_add_executable(MonoAR
src/AR/ros_mono_ar.cc
src/AR/ViewerAR.h
src/AR/ViewerAR.cc
)

target_link_libraries(MonoAR
${LIBS}
-lboost_system
)

# Node for stereo camera
rosbuild_add_executable(Stereo
src/ros_stereo.cc
)

target_link_libraries(Stereo
${LIBS}
-lboost_system
)

# Node for RGB-D camera
rosbuild_add_executable(RGBD
src/ros_rgbd.cc
)

target_link_libraries(RGBD
${LIBS}
-lboost_system
)

我尝试在 CMake 文件中添加 Boost 依赖项，但没有任何帮助。我尝试为 1.67 版重新编译 Boost 并重新编译 OpenCV 3.2 版。这些东西都没有帮助。任何帮助表示赞赏！

Answer 1

这是一个令人讨厌的兼容性错误。您尝试使用的 ORB SLAM 仅适用于 Ubuntu 18.04。但是，在 ROS ORB SLAM 页面上，他们有一个名为orb_slam_ros（点击here）的新页面，它可以做同样的事情。

注意：新版本并没有说它输出 ROS 地图，但使用 Octomap，您可以将 PointCloud 转换为地图。 注意：这是在 Ubuntu 20.04 ROS Noetic 中测试的。截至目前，20.10 不起作用。