I was trying to get my hands dirty with SLAM and I started with ORB-SLAM2 library.
I have downloaded a TUM sequence and wanted to use ROS for it. So I am following the steps according this page.
In Step 7, part 2, when i run ./build_ros.sh, I get the following error:
In file included from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/optimizable_graph.h:41:0,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/base_vertex.h:30,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/types_seven_dof_expmap.h:34,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/LoopClosing.h:34,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/LocalMapping.h:26,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/Tracking.h:31,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../include/System.h:29,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.h:29,
from /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/src/AR/ViewerAR.cc:21:
/home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/../../../Thirdparty/g2o/g2o/types/../core/jacobian_workspace.h:36:24: fatal error: g2o/config.h: No such file or directory
compilation terminated.
CMakeFiles/MonoAR.dir/build.make:198: recipe for target 'CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o' failed
make[2]: *** [CMakeFiles/MonoAR.dir/src/AR/ViewerAR.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
I went and checked the g2o folder and there is a file by name config.h.
So why am I still getting the error?
In the CMakeLists.txt in /home/sarvagya/Desktop/Swaayatt/ORB_SLAM2/Examples/ROS/ORB_SLAM2/
Try adding
${PROJECT_SOURCE_DIR}/../../../Thirdparty
to the list of include_directories() at line 44 (it should be at that line if you did not change the file)
Adding this line tells the cmake where to find the g2o/config.h.