ubuntu16.04 配置qt5.9+VTK5.10+pcl1.7 (orbslam_semantic_nav_ros依赖库1)https://blog.csdn.net/qq_45539458/article/details/106390709

ubuntu16.04 配置opencv3.4+pangolin+octomap (orbslam_semantic_nav_ros依赖库2)https://blog.csdn.net/qq_45539458/article/details/106411290

ubuntu16.04 安装ros kinetic(orbslam_semantic_nav_ros依赖库3)https://blog.csdn.net/qq_45539458/article/details/106456408

（先把目录建好 catkin_ws/src）
ubuntu16.04安装cmake3.14(ubuntu16.04安装腾讯ncnn库) (orbslam_semantic_nav_ros依赖库4)https://blog.csdn.net/qq_45539458/article/details/106456907

安装科大讯飞语音/百度aip相关库 (orbslam_semantic_nav_ros依赖库5)https://blog.csdn.net/qq_45539458/article/details/106457757

mkdir -p catkin_ws/src
//把代码放在catkin_ws/src里,src同目录编译，src里即所有源码
//或者直接把包放在catkin_ws，然后重命名为src
catkin_make
//可能会出错
sudo apt-get install ros-kinetic-tf2-*
sudo apt-get install ros-kinetic-img*
sudo apt-get install ros-kinetic-*//可略

csdn链接

semantic_slam_nav_ros-master.zip
https://download.csdn.net/download/qq_45539458/12487856

catkin-kinetic-devel.zip
https://download.csdn.net/download/qq_45539458/12487867