Jetson AGX Xavier部署ORB_SLAM2（ROS）

1. 修改CMakeLists.txt

Examples/ROS/ORB_SLAM2下的CMakeLists.txt

原

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
)

添加-lboost_system

修改后

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
)

2. 添加头文件

Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc添加头文件#include <unistd.h>

3. 编译

./build_ros.sh

完成后就部署好了。