Raspberry Pi 3B+ compile ORB-SLAM2

First introduce the environment configuration:

Raspberry Pi 3B+, Ubuntu mate 16.04, ROS kinetic, opencv2.4.13

Compilation method:
1. Install various required software packages and dependent libraries

$ sudo apt-get install libglew-dev  
$ sudo apt-get install cmake
$ sudo apt-get install libboost-dev libboost-thread-dev libboost-filesystem-dev 
$ sudo apt-get install libpython2.7-dev
$ sudo apt-get install libeigen3-dev

2. Install Pangolin
download, compile and install, forgot to record, haha.
3. Install the following dependencies

$ sudo apt-get install libblas-dev 
$ sudo apt-get install liblapack-dev

4. Compile ORB-SLAM2 and
enter the ROS workspace. For Raspberry Pi, open the file build.sh first, and change all the make -j inside to make, otherwise it will crash easily, test it, and tears.

$ cd ~/catkin_ws/src
$ cd ORB_SLAM2-master               //进入ORB-SLAM2文件夹里
$ chmod +x build.sh  			//更改文件属性，当然，用sudo的话这步就可以省了
$ ./build.sh 					

Compile ORB-SLAM2 under ROS

$ chmod +x build.sh
$ ./build_ros.sh				//同上，电脑性能不好的记得改make -j为make

If the following error occurs: (I have this error)

undefined reference to symbol '_ZN5boost6system15system_categoryEv'

Then open the Example folder in the ORB-SLAM2 folder and open the ROS folder

$ cd ~/catkin_ws/src/ORB_SLAM2-master/Examples/ROS

Modify the CMakeLists.txt file inside. For the
reason, open build_ros.sh and look at the program inside.
Find it

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 
)

Add -lboost_system and it is available for pro-test.
ps. Some references can't find the original blog. If you offend, please contact me to modify and mark accordingly.