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我试图用 SLAM 弄脏我的手，我从 ORB-SLAM2 库开始。

我已经下载了一个 TUM 序列并想使用 ROS。所以我按照这个页面的步骤进行操作。

在第 7 步第 2 部分中，当我运行时./build_ros.sh，出现以下错误：

In file included from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41:0,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/LoopClosing.h:34,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/LocalMapping.h:26,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/Tracking.h:31,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/System.h:29,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.h:29,
                 from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc:21:
/home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:36:24: fatal error: g2o/config.h: No such file or directory
compilation terminated.
CMakeFiles/MonoAR.dir/build.make:198: recipe for target 'CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o' failed
make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....

我去检查了g2o文件夹，有一个文件名config.h。

那么为什么我仍然收到错误消息？

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2 回答 2

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在CMakeLists.txt中/home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/

尝试添加

${PROJECT_SOURCE_DIR}/../../../Thirdparty

到include_directories()at列表line 44（如果您没有更改文件，它应该在该行）

添加这一行告诉 cmake 在哪里可以找到g2o/config.h.

于 2017-07-28T02:56:23.057 回答
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从信息来看，缺少g2o/config.h，jacobian_workspace.h但是当我查看文件时，并没有找到第include36 行的内容。我错过了什么，还是你改变了什么？

于 2017-07-26T11:43:28.197 回答