ubuntu16.04编译ORBSLAM2问题解决
2017-12-24 10:48
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在编译ubuntu16.04ros包的时候出现以下问题
`/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:218: 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
make[1]: * 正在等待未完成的任务….
/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:218: 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:127: recipe for target ‘all’ failed
make: * [all] Error 2
`
- 代码块高亮
- 出错原因为:libboost_system.so 与libboost_filesystem.so找不到链接目录
- 解决方案为
将libboost_system.so与libboost_filesystem.so复制到ORB_SLAM2/lib下,并且将ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入库目录,具体为
在
之后加入
问题得以解决
`/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:218: 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
make[1]: * 正在等待未完成的任务….
/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:218: 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:127: recipe for target ‘all’ failed
make: * [all] Error 2
`
- 代码块高亮
- 出错原因为:libboost_system.so 与libboost_filesystem.so找不到链接目录
- 解决方案为
locate boost_system //查找到目录 /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.1.58.0 /usr/local/MATLAB/R2017a/bin/glnxa64/libboost_system.so.1.56.0 locate boost_filesystem //查找到目录 /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.1.58.0 /usr/local/MATLAB/R2017a/bin/glnxa64/libboost_filesystem.so.1.56.0
将libboost_system.so与libboost_filesystem.so复制到ORB_SLAM2/lib下,并且将ORBSLAM2/Examples/ROS/ORBSLAM2下的Cmakelists.txt中加入库目录,具体为
在
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
之后加入
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so ${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so
问题得以解决
[ 0%] Built target rospack_genmsg_libexe [ 0%] Built target rosbuild_precompile [ 11%] Linking CXX executable ../Mono [ 22%] Linking CXX executable ../RGBD [ 33%] Linking CXX executable ../Stereo [ 44%] Linking CXX executable ../MonoAR [ 55%] Built target Mono [ 66%] Built target RGBD [ 77%] Built target Stereo [100%] Built target MonoAR
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