**前提：**首先换过源；其次在ubuntu16.04上安装好了ROS操作系统，可参照之前博客 1.安装依赖库
Pangolin安装 （参考博客：https://blog.csdn.net/HUST_lc/article/details/107570806）OpenCV 3.2版本 以上 我使用的是3.4.1版本，下载地址：https://codeload.github.com/opencv/opencv/zip/3.4.1 （过程参考博客：https://blog.csdn.net/cocoaqin/article/details/78163171?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160333602619724842937496%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160333602619724842937496&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allfirst_rank_v2~rank_v28-9-78163171.pc_first_rank_v2_rank_v28&utm_term=OpenCV+3.4.1&spm=1018.2118.3001.4187）Eigen 3(最好源码下载不然后面编译出现错误，可参考博客：https://blog.csdn.net/weixin_38874698/article/details/108424705?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160352593919725225048495%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160352593919725225048495&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allfirst_rank_v2~rank_v28-2-108424705.pc_first_rank_v2_rank_v28&utm_term=CMake+Error+in+CMakeLists.txt%3A&spm=1018.2118.3001.4187) （参考博客：https://blog.csdn.net/weixin_44703770/article/details/107698985?biz_id=102&utm_term=ORB-SLAM3%E6%95%B0%E6%8D%AE%E9%9B%86%E6%B5%8B%E8%AF%95&utm_medium=distribute.pc_search_result.none-task-blog-2allsobaiduweb~default-0-107698985&spm=1018.2118.3001.4187）Python 一般系统自带，无需安装，没有可 sudo apt install libpython2.7-dev 2.源码下载 ORB-SLAM2源码地址：https://github.com/raulmur/ORB_SLAM2 ORB-SLAM3源码地址 ：https://github.com/UZ-SLAMLab/ORB_SLAM3 3.编译运行ORB-SLAM2编译运行 编译1 $ cd ~/SLAM/src/ORB_SLAM2/ $ chmod +x build.sh $ ./build.sh 注意编译出错1时可参考博客：https://blog.csdn.net/qq_15698613/article/details/98453592?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160336943919724839242324%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160336943919724839242324&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allfirst_rank_v2~rank_v28-1-98453592.pc_first_rank_v2_rank_v28&utm_term=%2Fhome%2Fnanorobot%2FSLAM%2Fsrc%2FORB_S&spm=1018.2118.3001.4187 编译出错2：（https://blog.csdn.net/TengYun_zhang/article/details/96606346?utm_medium=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param&depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromMachineLearnPai2-1.channel_param） 编译出错3https://blog.csdn.net/lixujie666/article/details/90023059编译2 $chmod +x build_ros.sh $ ./build_ros.sh 注意编译出错时可参考博客：https://blog.csdn.net/chengmo123/article/details/104906376?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160337161119724842932195%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160337161119724842932195&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allfirst_rank_v2~rank_v28-4-104906376.pc_first_rank_v2_rank_v28&utm_term=Traceback+%28most+recent+call+la&spm=1018.2118.3001.4187 **和另一篇博客：**如果一直出现……libboost_system.so,need by ……/RGDB错误，我参照网上很多方法，一直不对，弄了两天，最后重新安装编译boost库，就好了 （参照博客：https://blog.csdn.net/weixin_42156097/article/details/103861974?ops_request_misc=%257B%2522request%255Fid%2522%253A%2522160359185119724813223072%2522%252C%2522scm%2522%253A%252220140713.130102334.pc%255Fall.%2522%257D&request_id=160359185119724813223072&biz_id=0&utm_medium=distribute.pc_search_result.none-task-blog-2allfirst_rank_v2~rank_v28-7-103861974.pc_first_rank_v2_rank_v28&utm_term=ubuntu16.04%E5%AE%89%E8%A3%85libboost_system.s&spm=1018.2118.3001.4187）下载后的libboost那四个文件默认在/usr/local/lib里面，所以建议使用复制命令复制到/usr/lib里面。
ORB-SLAM3编译运行 进入到代码根目录并编译 cd ORB_SLAM3/ chmod +x ./build.sh ./build.sh