重做Unbuntu 18.0.43 LTS系统 并为SLAM配置环境

sudo apt --fix-broken install
sudo apt install fcitx

sudo apt-get install ibus ibus-clutter ibus-gtk ibus-gtk3 ibus-qt4
im-config -s ibus
sudo apt-get install ibus-pinyin
sudo ibus-setup

#
# 默认注释了源码镜像以提高 apt update 速度，如有需要可自行取消注释
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-updates main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-backports main restricted universe multiverse
deb https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse
# deb-src https://mirrors.tuna.tsinghua.edu.cn/ubuntu/ bionic-security main restricted universe multiverse

# 追加国内的 ubuntu 镜像
deb http://cn.archive.ubuntu.com/ubuntu bionic main multiverse restricted universe
deb http://cn.archive.ubuntu.com/ubuntu bionic-updates main multiverse restricted universe
deb http://cn.archive.ubuntu.com/ubuntu bionic-security main multiverse restricted universe
deb http://cn.archive.ubuntu.com/ubuntu bionic-proposed main multiverse restricted universe

lsb_release -a

sudo cp /etc/apt/sources.list /etc/apt/sources.list.bcakup
sudo gedit /etc/apt/sources.list
sudo apt update 
sudo apt upgrade

sudo apt install -y vim 
sudo apt install -y curl
sudo apt install -y wget 
sudo apt install -y net-tools

sudo dpkg -i google-chrome-stable_current_amd64.deb 

sudo apt install git

git config --global user.name "Your Name"
git config --global user.email "youremail@example.com"

ssh-keygen -t rsa -C "youremail@example.com"

ssh-add ~/.ssh/id_rsa 

sudo apt install build-essential

sudo apt install flex
sudo apt install bison

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update

sudo apt-get install gcc-5 gcc-5-multilib
sudo apt-get install g++-5 g++-5-multilib
sudo apt-get install gcc-6 gcc-6-multilib
sudo apt-get install g++-6 g++-6-multilib
sudo apt-get install gcc-7 gcc-7-multilib
sudo apt-get install g++-7 g++-7-multilib
sudo apt-get install gcc-8 gcc-8-multilib
sudo apt-get install g++-8 g++-8-multilib
sudo apt-get install gcc-10 gcc-10-multilib
sudo apt-get install g++-10 g++-10-multilib
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 50
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 60
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 70
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 80
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-10 100
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-5 50
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-6 60
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-7 70
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-8 80
sudo update-alternatives --install /usr/bin/g++ g++ /usr/bin/g++-10 100

sudo update-alternatives --config gcc
sudo update-alternatives --config g++

sudo dpkg -i 对应的安装包名

sudo apt install -f

sudo apt install python2-pip
pip2 --version
# pip2 9.0.1 from /usr/lib/python2.7/dist-packages (python 2.7)

### 升级pip2
sudo python2 -m pip install --upgrade pip

sudo apt install build-essential 
sudo apt install python-dev python-setuptools

sudo apt install python3.8  # 默认安装 python3.8.16

sudo apt install python3-pip
pip3 --version
# pip3 9.0.1 from /usr/lib/python3.6/dist-packages (python 3.6.9)

sudo python3 -m pip install --upgrade pip

sudo apt install build-essential 
sudo apt install python3-dev  python3-setuptools

pip install -i http://pypi.douban.com/simple/ gevent

[global] index-url=https://pypi.tuna.tsinghua.edu.cn/simple

清华大学         https://pypi.tuna.tsinghua.edu.cn/simple/
阿里云           http://mirrors.aliyun.com/pypi/simple/
中国科技大学      https://pypi.mirrors.ustc.edu.cn/simple/
豆瓣(douban)     http://pypi.douban.com/simple/
中国科学技术大学   http://pypi.mirrors.ustc.edu.cn/simple/

python --version

update-alternatives --list python

update-alternatives --install /usr/bin/python python /usr/bin/python2.7 27
update-alternatives --install /usr/bin/python python /usr/bin/python3.6 36
update-alternatives --install /usr/bin/python python /usr/bin/python3.8 38

update-alternatives --config python

python --version

whereis python3
whereis pip3

# edit in ~/.bashrc
sudo gedit ~/.bashrc
# find this line "#some more ls aliases"
# add user-defined aliases
alias python='/usr/bin/python3'
alias pip='/usr/bin/pip3'
## Add an "alert" alias for long running commands.  Use like so:
## sleep 10; alert
## edit offsource ~/.bashrc

sudo python2 -m pip install numpy
sudo python2 -m pip install scipy
sudo python2 -m pip install matplotlib

sudo python3 -m pip install numpy
sudo python3 -m pip install scipy
sudo python3 -m pip install matplotlib

sudo apt install python3-opencv
sudo apt install python2-opencv
## 或者
sudo python2 -m pip install opencv-python==3.4.9.31
sudo python3 -m pip install opencv-python==3.4.9.31

sudo python2 -m pip install upgrade opencv-python==3.4.9.31
sudo python3 -m pip install upgrade opencv-python==3.4.9.31

sudo apt-get install cmake cmake-gui

cmake -version
>>3.10.2

make -v
>>GUN make 4.1

cd ~/Downloads
### wget https://cmake.org/files/v3.15/cmake-3.15.2-Linux-x86_64.tar.gz
wget https://cmake.org/files/v3.18/cmake-3.18.4.tar.gz
### 或者
wget https://cmake.org/files/v3.18/cmake-3.18.4-Linux-x86_64.tar.gz
tar -xvf cmake-3.18.4-Linux-x86_64.tar.gz

cd cmake-3.18.4-Linux-x86_64
### 复制文件
sudo cp -r ./ /usr/local/cmake-3.18

vim ~/.bashrc

## 在 ~/.bashrc 末尾添加如下的内容
PATH=$PATH:/usr/local/cmake-3.18/bin
export PATH

source ~/.bashrc

# 安装完毕之后，进行测试：
cmake --version

wget https://github.com/Kitware/CMake/releases/download/v3.18.4/cmake-3.18.4.tar.gz

./configure
make
sudo make install

git clone https://gitlab.com/libeigen/eigen.git Eigen
cd Eigen
mkdir build
cd build
cmake ..
make
sudo make install

# 头文件目录，这个库很特殊，只有头文件
/usr/local/include/eigen3/Eigen/
# cmake文件目录，会自动搜索的
/usr/local/share/eigen3/cmake/

sudo ln -sf /usr/local/eigen-3.3.9/include/eigen3 /usr/local/include/eigen3
sudo ln -sf /usr/local/eigen-3.3.9/share/eigen3 /usr/local/share/eigen3
sudo ln -sf /usr/local/eigen-3.3.9/share/pkgconf/eigen3.pc /usr/local/share/pkgconf/eigen3.pc

set(xxx_DIR "xxxConfig.cmake文件所在的路径")

sudo apt-get install build-essential libgl1-mesa-dev
sudo apt-get install freeglut3-dev
sudo apt-get install libglew-dev libsdl2-dev libsdl2-image-dev libglm-dev libfreetype6-dev

cc test.c -o test -lGL -lglut
./test

## GLEW：
sudo apt-get install libglew-dev

## Boost：
sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

## Python2/Python3：
sudo apt-get install libpython2.7-dev

## 编译基础库
sudo apt-get install build-essential

## google-glog + gflags
sudo apt-get install libgoogle-glog-dev

## lapack
sudo apt install libblas-dev liblapack-dev
sudo apt install libatlas-base-dev libatlas-base-dev:i386

# 点云库PCL
sudo apt install libpcl-dev pcl-tools

## SuiteSparse和CXSparse（可选）
＃ - 如果要将Ceres构建为* static *库（默认），您可以添加：
sudo apt install libsuitesparse-dev

＃ - 但是，如果要将Ceres构建为* shared *库，则必须添加以下PPA：
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt update
sudo apt install libsuitesparse-dev

## 安装gtk2.0工具包和基础库
sudo apt install libgtk2.0-dev pkg-config
sudo apt install libcanberra-gtk-module

## 安装 ffmpeg ### （慎重）
# sudo apt install ffmpeg  ## 可能会与 Pangolin 冲突

git clone http://github.com/strasdat/Sophus.git Sophus ## 下载 李代数库
cd Sophus
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=RELEASE ..
make -j4
sudo make install

-- Install configuration: "Release"
-- Installing: /usr/local/share/sophus/cmake/SophusTargets.cmake
-- Installing: /usr/local/share/sophus/cmake/SophusConfig.cmake
-- Installing: /usr/local/share/sophus/cmake/SophusConfigVersion.cmake
-- Installing: /usr/local/include/sophus/average.hpp

sudo apt install libglew-dev libboost-dev libboost-thread-dev libboost-filesystem-dev

git clone https://github.com/stevenlovegrove/Pangolin.git ## 下载 Pangolin 库
cd Pangolin
mkdir build
cd build
cmake -DCPP11_NO_BOOST=1 \
-D CMAKE_BUILD_TYPE=RELEASE \
-D CMAKE_INSTALL_PREFIX=/usr/local/Pangolin ..
make -j4     ### make （根据CPU配置线程数量）
sudo make install ### (.h默认安装到/usr/local/include）

sudo apt-get install gfortran

cd ~/Downloads
wget https://codeload.github.com/Reference-LAPACK/lapack/tar.gz/v3.9.0 ## 下载
tar -xvf  lapack-3.9.0.tar.gz ## 解压

cd lapack-3.9.0/
mkdir Release
cd Release

cp make.inc.example make.inc

cmake -D CMAKE_BUILD_TYPE=Release \
      -D CMAKE_INSTALL_PREFIX=/usr/local/lapack-3.9.0 \
      ..
make -j4
sudo make install

lib: lapacklib tmglib
#lib: blaslib variants lapacklib tmglib

#lib: lapacklib tmglib
lib: blaslib variants lapacklib tmglib

sudo make -j4

Makefile:463: recipe for target 'znep.out' failed

 CFLAGS    = -O3 -I$(TOPDIR)/INCLUDE -fno-stack-protector

ulimit -s unlimited
make clean
make -j4

#include <stdio.h>
#include <lapacke.h>
 
int main (int argc, const char * argv[])
{
   double a[5*3] = {1,2,3,4,5,1,3,5,2,4,1,4,2,5,3};
   double b[5*2] = {-10,12,14,16,18,-3,14,12,16,16};
   lapack_int info,m,n,lda,ldb,nrhs;
   int i,j;
 
   m = 5;
   n = 3;
   nrhs = 2;
   lda = 5;
   ldb = 5;
 
   info = LAPACKE_dgels(LAPACK_COL_MAJOR,'N',m,n,nrhs,a,lda,b,ldb);
 
   for(i=0;i<n;i++)
   {
      for(j=0;j<nrhs;j++)
      {
         printf("%lf ",b[i+ldb*j]);
      }
      printf("\n");
   }
   return(info);
}

gfortran test.c -llapacke -llapack -lrefblas

sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1.2 libgflags-dev libgoogle-glog-dev libgtest-dev

deb http://cz.archive.ubuntu.com/ubuntu trusty main universe

git clone https://github.com/ceres-solver/ceres-solver.git
cd ceres-solver
mkdir build
cd build
cmake ..
make -j4
sudo make install

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

git clone https://github.com/RainerKuemmerle/g2o
cd g2o
mkdir build
cd build

cmake ..

make -j4
sudo make install

在~/Downloads下git，编译安装。

git clone https://github.com/rmsalinas/DBow3.git
cd DBow3
mkdir build
cd build

cmake ..

make
sudo make install

sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev
libavformat-dev libswscale-dev
sudo apt-get install python-dev python-numpy libtbb2 libtbb-dev 
sudo apt-get install libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev

sudo add-apt-repository "deb http://security.ubuntu.com/ubuntu xenial-security main"
sudo apt update
sudo apt install libjasper1 libjasper-dev

sudo apt update
sudo apt upgrade
sudo apt install libjasper1 libjasper-dev

## 安装常用图像工具包
sudo apt-get install libjpeg8-dev libtiff5-dev libjasper-dev libpng12-dev  ## 安装常用图像工具包
## 安装视频I/O包
sudo apt install libavcodec-dev libavformat-dev libswscale-dev libv4l-dev ## 安装视频I/O包
## 安装gtk2.0
sudo apt install libgtk2.0-dev ## 安装gtk2.0
## 安装优化函数包
sudo apt-get install libatlas-base-dev gfortran ## 安装优化函数包
## 安装gtk2.0工具包
sudo apt install libgtk2.0-dev pkg-config

sudo apt install python2-numpy
## 或者
sudo apt install python3-numpy

sudo apt install libblas-dev
sudo apt install liblapack-dev

cd /<YOUR_OPENCV_DIR>/OpenCV-3.4.9
mkdir release
cd release

cmake -D CMAKE_BUILD_TYPE=Release \
    -D CMAKE_INSTALL_PREFIX=/usr/local/opencv-3.4.9 \
    -D OPENCV_EXTRA_MODULES_PATH=/<YOUR_OPENCV_DIR>/OpenCV-3.4.9/opencv_contrib/modules\
    -D OPENCV_GENERATE_PKGCONFIG=YES \
    -D INSTALL_PYTHON_EXAMPLES=ON \
    -D INSTALL_C_EXAMPLES=ON \
    -D BUILD_EXAMPLES=ON \
    -D BUILD_TESTS=ON \
    -D BUILD_PERF_TESTS=ON \
    -D PYTHON_EXECUTABLE=~/.virtualenvs/cv/bin/python \
    -D WITH_CUDA=OFF \
    -D BUILD_DOCS=OFF \
    -D OPENCV_ENABLE_NONFREE=OFF \
    -D BUILD_opencv_python2=OFF \    # 关闭python2 即使用 python3 进行编译
    ../opencv-3.4.9

//编译安装
make # -j4    # 建议使用单线程进行编译
sudo make install

IPPICV: Download: ippicv_2019_lnx_intel64_general_20180723.tgz
xfeatures2d/boostdesc: Download: boostdesc_bgm.i
xfeatures2d/boostdesc: Download: boostdesc_bgm_bi.i
xfeatures2d/boostdesc: Download: boostdesc_bgm_hd.i
xfeatures2d/boostdesc: Download: boostdesc_binboost_064.i
xfeatures2d/boostdesc: Download: boostdesc_binboost_128.i
xfeatures2d/boostdesc: Download: boostdesc_binboost_256.i
xfeatures2d/boostdesc: Download: boostdesc_lbgm.i
xfeatures2d/vgg: Download: vgg_generated_48.i
xfeatures2d/vgg: Download: vgg_generated_64.i
xfeatures2d/vgg: Download: vgg_generated_80.i
xfeatures2d/vgg: Download: vgg_generated_120.i
data: Download: face_landmark_model.dat

sudo gedit /etc/ld.so.conf.d/opencv.conf

/usr/local/opencv-3.4.9/lib

# 在文件 /etc/ld.so.conf.d/opencv.conf 末尾增加
# /usr/local/opencv-3.4.6/lib
sudo sh -c 'echo "/usr/local/opencv-3.4.6/lib" > /etc/ld.so.conf.d/opencv.conf'

sudo ldconfig
sudo apt update # 可选

sudo gedit /etc/bash.bashrc

PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/opencv-3.4.9/lib/pkgconfig
LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/opencv-3.4.9/lib
export LD_LIBRARY_PATH
export PKG_CONFIG_PATH

source /etc/bash.bashrc 

sudo updatedb 

pkg-config --modversion opencv

mkdir build
cd build
cmake ..
make
./opencv_example  ### ctrl+c 退出视频窗口

CMake Error at CMakeLists.txt:1 (ocv_install_example_src):
  Unknown CMake command "ocv_install_example_src".

├── build
├── CMakeLists.txt
├── example.cpp
├── Makefile
└── temp.so.txt

Built with OpenCV 3.4.9
Capture is opened
terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(3.4.9) /home/npuyin/Downloads/OpenCV-3.4.9/opencv-3.4.9/modules/highgui/src/window.cpp:658: error: (-2:Unspecified error) The function is not implemented. Rebuild the library with Windows, GTK+ 2.x or Carbon support. If you are on Ubuntu or Debian, install libgtk2.0-dev and pkg-config, then re-run cmake or configure script in function 'cvShowImage'

Aborted (core dumped)

sudo ln -s /usr/local/opencv-3.4.9/lib/python2.7/dist-packages/cv2.so /usr/local/lib/python2.7/dist-packages
sudo ln -s /usr/local/opencv-3.4.9/lib/python3.6/dist-packages/cv2.cpython-36m-x86_64-linux-gnu.so /usr/local/lib/python3.6/dist-packages

export PYTHONPATH=$PYTHONPATH:/usr/local/opencv3.4.9/lib/python2.7/dist-packages:/usr/local/opencv3.4.9/lib/python3.6/dist-packages

sudo cp 

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

cd ORB_SLAM2
chmod +x build.sh

./build.sh

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM2.yaml PATH_TO_SEQUENCE_FOLDER

sudo apt install rviz  ## 安装 rviz

ps –aux     //查看进程号
ps –aux | more //全部查看
ps –ef | grep mysql //查看mysql的进程
kill -9 3306 //强制杀掉进程号3306

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116

sudo apt-get update

W: GPG error: http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease: The following signatures couldn't be verified because the public key is not available: NO_PUBKEY F42ED6FBAB17C654
E: The repository 'http://mirrors.ustc.edu.cn/ros/ubuntu bionic InRelease' is not signed.
N: Updating from such a repository can't be done securely, and is therefore disabled by default.
N: See apt-secure(8) manpage for repository creation and user configuration details.

sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654
sudo apt-get update

cd /etc
sudo chmod a+rw hosts  // 或者
sudo gedit /etc/hosts

151.101.84.133  raw.githubusercontent.com //更换源地址

sudo apt-get update
sudo apt-get install ros-melodic-desktop-full
sudo apt-get install ros-melodic-rqt*
sudo apt install rospack-tools

sudo rosdep init
rosdep update

sudo rosdep init
rosdep update

ERROR: cannot download default sources list from: 
https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/sources.list.d/20-default.list Website may be down.

cd /etc
sudo chmod a+rw hosts  // 或者
sudo gedit /etc/hosts

# 151.101.84.133  raw.githubusercontent.com ### 更换源地址

$ sudo rosdep update
updated cache in /home/<USER>/.ros/rosdep/sources.cache

echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc

sudo apt install python-rosinstall python-rosinstall-generator 
sudo apt install python-wstool build-essential
sudo apt install python-catkin-pkg
sudo apt install python-roslib
sudo apt install python-roslaunch

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential
sudo apt-get install ros-melodic-cv-bridge ros-melodic-tf ros-melodic-message-filters ros-melodic-image-transport

roscore

rosrun turtlesim turtlesim_node

rosrun turtlesim turtle_teleop_key

~/catkin_ws
├── build
├── devel
└── src
    ├── ORB_SLAM2
    ├── rgbd_dataset_freiburg1_360
    └── usb_cam

cd ~/catkin_ws
catkin_make # 可暂时不执行

mkdir catkin_ws/src
cd catkin_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam usb_cam
cd usb_cam
mkdir build 
cd build 
cmake -D CMAKE_BUILD_TYPE=Release ..
# cmake .. 
make -j4

echo "source /home/<USER>/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/<USER>/catkin_ws/src/ORB_SLAM2/Examples/ROS
source ~/.bashrc     //之后  source以下

chmod +x build_ros.sh
./build_ros.sh

/usr/bin/ld: warning: libopencv_imgproc.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.4
/usr/bin/ld: warning: libopencv_core.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_core.so.3.4

set(libraries "cv_bridge;
/usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0;
/usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0;
/usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0")

Name: cv_bridge
Description: Description of cv_bridge
Version: 1.13.0
Cflags: -I${prefix}/include -I/usr/include -I/usr/include/opencv
Libs: -L${prefix}/lib -lcv_bridge /usr/lib/x86_64-linux-gnu/libopencv_core.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgproc.so.3.2.0 /usr/lib/x86_64-linux-gnu/libopencv_imgcodecs.so.3.2.0

Name: cv_bridge
Description: Description of cv_bridge
Version: 1.13.0
Cflags: -I${prefix}/include -I/usr/local/opencv-3.4.9/include -I/usr/local/opencv-3.4.9/include/opencv
Libs: -L${prefix}/lib -lcv_bridge /usr/local/opencv-3.4.9/lib/libopencv_core.so.3.4.9 /usr/local/opencv-3.4.9/lib/libopencv_imgproc.so.3.4.9 /usr/local/opencv-3.4.9/lib/libopencv_imgcodecs.so.3.4.9

[ 88%] Linking CXX executable ../Stereo
/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: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:230: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:206: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
/usr/bin/ld: warning: libopencv_imgproc.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.3.4
/usr/bin/ld: warning: libopencv_core.so.3.2, needed by /opt/ros/melodic/lib/libcv_bridge.so, may conflict with libopencv_core.so.3.4
[ 88%] Built target MonoAR
[100%] Linking CXX executable ../RGBD
/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: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:230: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:179: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
Makefile:148: recipe for target 'all' failed
make: *** [all] Error 2

locate boost_system # 查找到目录

/snap/code/47/usr/lib/x86_64-linux-gnu/libboost_system.so.1.58.0
/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

locate boost_filesystem # 查找到目录

/snap/code/47/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.58.0
/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

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 

${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so 
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so 

roscore        # 第一个终端（1st Terminal），启动 ROS
roslaunch usb_cam usb_cam-test.launch   # 第二个终端（2nd Terminal）：启动 usb_cam 摄像头
cd ~/home/npuyin/catkin_ws/src/ORB_SLAM2/catkin_ws/src/ORB_SLAM2
rosrun ORB_SLAM2 Mono Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml # 第三个终端（3rd Terminal）：在  catkin_ws/src/ORB_SLAM2   目录下  运行ROS实例

export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:/home/npuyin/catkin_ws/src/ORB_SLAM2/lib