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Prepare a pure Ubuntu System , If this is the first installation , In this way, many pits can be mined less , It's just going to be used on the knife handle （ Manual formation ）, My is 18.04, According to your own situation , Mainly ros Version of , The other version doesn't have much influence .

One 、 Install the test

ORBSLAM2 Summary of each dependency version

Serial number	Dependencies	edition	Address
1	pangolin	v0.5	Tags · stevenlovegrove/Pangolin · GitHub (0z.gs)
2	Eigen3	3.3.4	3.3.4 · Tags · libeigen / eigen · GitLab
3	opencv	3.4.1	Release OpenCV 3.4.1 · opencv/opencv · GitHub (0z.gs)
4	DBow2	v1.1-free	Release v1.1-free · dorian3d/DBoW2 · GitHub (0z.gs)
5	g2o	20170730_git	Release 20170730_git · RainerKuemmerle/g2o · GitHub (0z.gs)
6	Ros	melodic	One click installation series of Xiaoyu \| Fish fragrance ROS (fishros.org.cn)

After preparing the dependencies , Start installation

1. Update software list

sudo apt-get update

2. To configure c++ Compile environment

sudo apt-get install gcc
sudo apt-get install g++
sudo apt-get install cmake

3. install vscode

Get into vscode Official website https://code.visualstudio.com/Download, On the download page , download .deb file .

Found downloaded .deb file , Double click to install .

After installation , You can find it under the main menu vscode, Right click to add to Favorites .

open VScode To configure

4. install git

sudo apt-get install git

5. Configuration dependent environment

5.1 install Eigen3

sudo apt-get install libeigen3-dev

5.2 install pangolin

According to the official Dependencies, Install related dependencies , Most of these dependencies are optional , You can choose with your own needs , The following are the dependencies of the installation selected by the author , These items must be installed .

~$ sudo apt-get install libglew-dev
~$ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev

Enter the path where the downloaded file is placed , Unzip the installation package .

tar -zxvf Pangolin-0.5.tar.gz

Enter the installation package folder to install

cd Pangolin-0.5
mkdir build
cd build
cmake ..
make
sudo make install

Installation successful .

5.3 install OpenCV

And installation pangolin equally , First download the installation package from the official website , After configuring the necessary dependencies , Installation , The installation instructions are as follows , See the following execution process operation pictures for specific operations

sudo apt-get install libgtk2.0-dev
sudo apt-get install pkg-config
sudo apt-get install ffmpeg
sudo apt-get install libavcodec-dev
sudo apt-get install libavformat-dev
sudo apt-get install libswscale-dev
// optional 
sudo apt-get install libjpeg-dev libpng-dev libtiff-dev

// install 

tar -zxvf opencv-3.4.1.tar.gz
cd opencv-3.4.1
mkdir build
cd build
cmake ..
make -j2
sudo make install

// Configure the compilation environment 
sudo gedit /etc/ld.so.conf.d/opencv.conf
/usr/local/lib
sudo ldconfig 

sudo gedit /etc/bash.bashrc  
PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/local/lib/pkgconfig  
export PKG_CONFIG_PATH  
source /etc/bash.bashrc
sudo updatedb

The execution process is as follows ：

Compile successfully

install

Configure the compilation environment

5.4 install G2O

Download the installation package as above , Then install them according to the dependencies provided by the official

// Install dependencies 
sudo apt-get install libsuitesparse-dev
sudo apt-get install qtdeclarative5-dev
sudo apt-get install qt5-qmake
sudo apt-get install libqglviewer-dev-qt5

// Unzip the installation package 
tar -zxvf g2o-20170730_git.tar.gz
cd g2o-20170730_git/

// install 
mkdir build
cd build
cmake ..
make

Compile successfully .

5.5 install DBow2

Also download the installation package first , Then compile

tar -zxvf DBoW2-1.1-free.tar.gz 
cd DBoW2-1.1-free/
mkdir build
cd build
cmake ..
make -j2
sudo make install

The execution process is as follows

5.6 install Ros1

Ros Install and use One click installation series of Xiaoyu | Fish fragrance ROS (fishros.org.cn)

One step in place , Don't say more .

6 install ORBSLAM2

newly build ros working space , stay ros Download the source code in the workspace

git clone https://github.com/raulmur/ORB_SLAM2.git ORB_SLAM2

Set up build.sh File permissions

chmod +x build.sh

compile

./build.sh
make -j2

Download the dataset test after success , The running code is as follows （ Be careful ： Different data sets correspond to different configuration files ）

// Executable file path    Dictionary path     Profile path     Dataset path 
./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml /home/slam/Data/rgbd_dataset_freiburg1_xyz

The successful running