OBR_SLAM2运行./build_ros.sho出错

error: ‘usleep’ was not declared in this scope
         usleep(mT*1000);
         ^~~~~~
/home/miao/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc:233:9: note: suggested alternative: ‘fseek’
         usleep(mT*1000);
         ^~~~~~
         fseek

该类错误在对应的文加加入

#include <unistd.h>

usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: 无法添加符号: DSO missing from command line
collect2: error: ld returned 1 exit status
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: 无法添加符号: DSO missing from command line
CMakeFiles/RGBD.dir/build.make:227: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
collect2: error: ld returned 1 exit status
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
CMakeFiles/Stereo.dir/build.make:227: 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
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

解决

miao@openlib:~/catkin_ws/src/ORB_SLAM2$ locate boost_system
/home/miao/vrep/libboost_system.so
/home/miao/vrep/libboost_system.so.1.54.0
/usr/lib/x86_64-linux-gnu/libboost_system.a
/usr/lib/x86_64-linux-gnu/libboost_system.so
/usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1
miao@openlib:~/catkin_ws/src/ORB_SLAM2$ cp /usr/lib/x86_64-linux-gnu/libboost_system.so /home/miao/catkin_ws/src/ORB_SLAM2/lib
miao@openlib:~/catkin_ws/src/ORB_SLAM2$ cp /usr/lib/x86_64-linux-gnu/libboost_system.so.1.65.1 /home/miao/catkin_ws/src/ORB_SLAM2/lib/


miao@openlib:~/catkin_ws/src/ORB_SLAM2$ locate boost_filesystem
/home/miao/vrep/libboost_filesystem.so
/home/miao/vrep/libboost_filesystem.so.1.54.0
/usr/lib/x86_64-linux-gnu/libboost_filesystem.a
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.65.1
miao@openlib:~/catkin_ws/src/ORB_SLAM2$ cp /usr/lib/x86_64-linux-gnu/libboost_filesystem.so /home/miao/catkin_ws/src/ORB_SLAM2/lib/
miao@openlib:~/catkin_ws/src/ORB_SLAM2$ cp /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.65.1 /home/miao/catkin_ws/src/ORB_SLAM2/lib/

在

catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2$目录下的CMakeLists.txt添加以下

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
)