ORB_SLAM错误总结_failed to invoke rospack to get compile flags for

在编译ORB_SLAM的时候出现的错误：

一、未添加路径

-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.6") 
[rosbuild] Building package ORB_SLAM-master
**[rosbuild] Error from directory check: /opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py /home/jy/work_sp/src/ORB_SLAM-master /home/jy/catkin_ws/src/ORB_SLAM-master**
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Traceback (most recent call last):
  File "/opt/ros/indigo/share/ros/core/rosbuild/bin/check_same_directories.py", line 48, in <module>
    raise Exception
Exception
CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/private.cmake:102 (message):
  [rosbuild] rospack found package "ORB_SLAM-master" at
  "/home/jy/work_sp/src/ORB_SLAM-master", but the current directory is
  "/home/jy/catkin_ws/src/ORB_SLAM-master".  You should double-check your
  ROS_PACKAGE_PATH to ensure that packages are found in the correct
  precedence order.
Call Stack (most recent call first):
  /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
  CMakeLists.txt:4 (rosbuild_init)


-- Configuring incomplete, errors occurred!
See also "/home/jy/catkin_ws/src/ORB_SLAM-master/build/CMakeFiles/CMakeOutput.log"
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解决办法：

在.zshrc 末尾添加：export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/jy/catkin_ws/src/ORB_SLAM-master
(这个是我的路径 我用的是zsh 大家根据实际情况更改就行）
ORB路径添加到ROS

二、缺少opencv2

cmake ..    
-- The C compiler identification is GNU 4.8.4
-- The CXX compiler identification is GNU 4.8.4
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Found PythonInterp: /usr/bin/python (found version "2.7.6") 
[rosbuild] Building package ORB_SLAM-master
Failed to invoke /opt/ros/indigo/bin/rospack deps-manifests ORB_SLAM-master
**[rospack] Error: package 'ORB_SLAM-master' depends on non-existent package 'opencv2' and rosdep claims that it is not a system dependency. Check the ROS_PACKAGE_PATH or try calling 'rosdep update'**


CMake Error at /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:129 (message):
  

  Failed to invoke rospack to get compile flags for package
  'ORB_SLAM-master'.  Look above for errors from rospack itself.  Aborting.
  Please fix the broken dependency!

Call Stack (most recent call first):
  /opt/ros/indigo/share/ros/core/rosbuild/public.cmake:207 (rosbuild_invoke_rospack)
  CMakeLists.txt:4 (rosbuild_init)


-- Configuring incomplete, errors occurred!
See also "/home/jy/catkin_ws/src/ORB_SLAM-master/build/CMakeFiles/CMakeOutput.log"
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解决办法：

直接将文件manifest.xml中 < depend package=“opencv2”/ > 删除就好了。

三、缺少头文件

/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::ComputeKeyPoints(std::vector<std::vector<cv::KeyPoint> >&)’:
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:607:63: error: ‘FAST’ was not declared in this scope
                 FAST(cellImage,cellKeyPoints[i][j],fastTh,true);
                                                               ^
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:616:34: error: ‘ORB’ has not been declared
                 if( scoreType == ORB::HARRIS_SCORE )
                                  ^
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:683:17: error: ‘KeyPointsFilter’ has not been declared
                 KeyPointsFilter::retainBest(keysCell,nToRetain[i][j]);
                 ^
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:699:13: error: ‘KeyPointsFilter’ has not been declared
             KeyPointsFilter::retainBest(keypoints,nDesiredFeatures);
             ^
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::operator()(cv::InputArray, cv::InputArray, std::vector<cv::KeyPoint>&, cv::OutputArray)’:
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:760:82: error: ‘GaussianBlur’ was not declared in this scope
         GaussianBlur(workingMat, workingMat, Size(7, 7), 2, 2, BORDER_REFLECT_101);
                                                                                  ^
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc: In member function ‘void ORB_SLAM::ORBextractor::ComputePyramid(cv::Mat, cv::Mat)’:
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:800:78: error: ‘INTER_LINEAR’ was not declared in this scope
             resize(mvImagePyramid[level-1], mvImagePyramid[level], sz, 0, 0, INTER_LINEAR);
                                                                              ^
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:800:90: error: ‘resize’ was not declared in this scope
             resize(mvImagePyramid[level-1], mvImagePyramid[level], sz, 0, 0, INTER_LINEAR);
                                                                                          ^
/home/jy/catkin_ws/src/ORB_SLAM-master/src/ORBextractor.cc:803:80: error: ‘INTER_NEAREST’ was not declared in this scope
                 resize(mvMaskPyramid[level-1], mvMaskPyramid[level], sz, 0, 0, INTER_NEAREST);
                                                                                ^
make[2]: *** [CMakeFiles/ORB_SLAM-master.dir/src/ORBextractor.cc.o] 错误 1
make[1]: *** [CMakeFiles/ORB_SLAM-master.dir/all] 错误 2
make: *** [all] 错误 2
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解决办法：

相应文件的头文件缺少（我的是ORBextractor.cc)。搜了好久的解决办法，一点用都没，后来去官网上找文件。一对比才发现我的头文件少了好几个把缺失的复制上就行了。

实在不行就重装系统吧 我重装系统后一遍跑通orb_slam

四、订阅节点失败

在使用我自己的电脑摄像头来跑ORB_SLAM的时候，摄像头发布的节点名字是usb_cam/******，而ORB_SLAM订阅的节点名字是camera/********
我的usb_cam-test.launch文件是

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video0" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/usb_cam/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>
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这样的节点ORB_SLAM 是没办法订阅的，在rviz界面显示不出摄像头的画面。

解决办法：

修改usb_cam-test.launch文件

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
   <param name="video_device" value="/dev/video0" />
   <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="camera" />
    <param name="io_method" value="mmap"/>
    <remap from="/usb_cam/image_raw" to="/camera/image_raw" />
  </node>
  <node name="image_view" pkg="image_view" type="image_view"  respawn="false" output="screen">
    <remap from="/image" to="/ORB_SLAM/Frame" />
    <param name="autosize" value="true"/>
    </node>
</launch>
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然后再运行ExampleGroovyOrNewer.launch 文件即可。
或者可以把两个文件结合在一个launch文件里。

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
   <param name="video_device" value="/dev/video0" />
   <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value="camera" />
    <param name="io_method" value="mmap"/>
    <remap from="/usb_cam/image_raw" to="/camera/image_raw" />
  </node>

   <node pkg="image_view" type="image_view" name="image_view" respawn="false" output="log">
    <remap from="/image" to="/ORB_SLAM/Frame" />
    <param name="autosize" value="true"/>
    </node>

    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ORB_SLAM)/Data/rviz.rviz" output="log">
   </node>

    <node pkg="ORB_SLAM" type="ORB_SLAM" name="ORB_SLAM"  args="Data/ORBvoc.txt Data/Settings.yaml" cwd="node" output="screen">
   </node>

</launch>
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这样只需要启动这一个文件就行了。