编译orbslam出现的问题解决

fatal error: cv_bridge/cv_bridge.h: 没有那个文件或目录

include_directories( ${PROJECT_SOURCE_DIR} ${PROJECT_SOURCE_DIR}/include ${EIGEN3_INCLUDE_DIR} ${Pangolin_INCLUDE_DIRS} /opt/ros/kinetic/include )

参考链接：

https://ask.csdn.net/questions/4269956?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522161726723216780261920368%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=161726723216780261920368&biz_id=4&utm_medium=distribute.pc_search_result.none-task-ask_topic-2_allfirst_rank_v2~rank_v29-2-4269956.first_rank_v2_pc_rank_v29&utm_term=fatal+error%3A+cv_bridge%2Fcv_bridge.h%3A

/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line

在ROS中的CMakeLists.txt中修改：

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
)

加入最后一行即编译成功