1.下载：git
git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2github
2.依赖项：vim
sudo apt install autotools-dev ccache doxygen dh-autoreconf git liblapack-dev libblas-dev libgtest-dev libreadline-dev libssh2-1-dev pylint clang-format-3.8ruby
3.安装eigen,pangolinbash
4.解决ORB-SLAM2编译死机问题ssh
vim build.sh，在最后将 -j 取消掉。ui
5.解决usleep问题spa
在include里面的system.h加入#include<unistd.h>code
6.运行./build.shorm
7.修正错误Failed to invoke rospack to get compile flags for package 'ORB_SLAM2'.
sudo gedit ~/.bashrc修改bashrc，在其末端加入
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/username/catkin_ws/src/ORB_SLAM2/Examples/ROS
并在加入保存后在终端运行source ~/.bashrc
8.修正错误recipe for target 'CMakeFiles/Mono.dir/all' failed
set(LIBS${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)