jeston TK1上编译orbslam2

1.安装tk1系统

参考博客，安装tk1系统

更换更新源

以root身份打开 /etc/apt/sources.list 

将 http://ports.ubuntu.com/ 全部替换为 http://mirrors.ustc.edu.cn/ubuntu-ports/

修改后，执行sudo apt-get update

2.安装opencv2.4.11

参考

安装nvidia官方opencv

3.安装ros indigo

参考ros官网教程，http://wiki.ros.org/indigo/Installation/UbuntuARM

3.1更新源

采用中科大的更新源

sudo sh -c './etc/lsb-release && echo "debhttp://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" >/etc/apt/sources.list.d/ros-latest.list'

更新key

sudo apt-key adv--keyserver hkp://ha.pool.sks-keyservers.net --recv-key 0xB01FA116

sudo apt-get update

3.2安装ros

sudo apt-get install ros-indigo-desktop

其它常用包：

sudo apt-getinstall -y ros-indigo-ros-base ros-indigo-navigation ros-indigo-openni-camera ros-indigo-openni2-camera ros-indigo-openni-launch ros-indigo-openni2-launch ros-indigo-openslam-gmapping python-rosinstall ros-indigo-ros-tutorials ros-indigo-usb-cam

sudo rosdep init

rosdep update

echo"source /opt/ros/indigo/setup.bash" >> ~/.bashrc

source ~/.bashrc

3.3 建立工作环境

mkdir -p~/catkin_ws/src

cd~/catkin_ws/src

catkin_init_workspace

 

cd ~/catkin_ws

catkin_make

3.4 建立工作环境

source~/catkin_ws/devel/setup.bash

rospack profile

echo "source~/catkin_ws/devel/setup.bash" >> ~/.bashrc

3.5 rviz配置

参考大佬的博客http://blog.csdn.net/sinat_31135199/article/details/52681358?locationNum=3

1. sudo apt-get install ros-indigo-rviz  
2. sudo apt-get install ros-indigo-robot-model  
3. echo "unset GTK_IM_MODULE" >> ~/.bashrc  
4. source ~/.bashrc  

5.编译loitor驱动

6.swap空间设置

参考创客制造和xxx,但直接使用存在以下问题

7.编译orbslam2

参考https://github.com/raulmur/ORB_SLAM2

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

编译前，修改build_ros.sh中为make -j2或者-j1,由于tk1的内存大小限制，默认状态下编译ros历程，若不挂载swap空间，则会由于内存不足而编译失败

build_ros.sh

cd Examples/ROS/ORB_SLAM2
mkdir build
cd build
cmake .. -DROS_BUILD_TYPE=Release
make -j2

8.运行orbslam2的ros demo

echo "Building ROS nodes"

8.1 rgbd demo

注意要使用openni2的launch，openni1的无法正常工作

8.2 双目demo