ORB-SLAM2 ROS編譯問題解決

編譯ros版本時BOOST問題 

[100%] Linking CXX executable ../RGBD
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:209: recipe for target '../Stereo' failed
make[2]: *** [../Stereo] Error 1
CMakeFiles/Makefile2:169: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: *** [CMakeFiles/Stereo.dir/all] Error 2
make[1]: *** 正在等待未完成的任務....
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:209: recipe for target '../RGBD' failed
make[2]: *** [../RGBD] Error 1
CMakeFiles/Makefile2:142: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: *** [CMakeFiles/RGBD.dir/all] Error 2
Makefile:129: recipe for target 'all' failed
make: *** [all] Error 2

解決：

github issue：https://github.com/raulmur/ORB_SLAM2/issues/494#issuecomment-354346674

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
)