更多：請檢視~/ORB_SLAM2/REAME.md

首先感謝高博分享的基本流程https://www.cnblogs.com/gaoxiang12/p/5161223.html
該流程是在自己試坑後做出的總結

1.編譯執行Kinect2

cd ~/catkin_ws
catkin_make -DCMAKE_BUILD_TYPE="Release"
roslaunch kinect2_bridge kinect2_bridge.launch

2.下載ORB_SLAM2並做適當改動

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

改動１：在目錄Example/ROS/ORB_SLAM2/src/ros_rgbd.cc中：
main函式
message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "/camera/rgb/image_raw", 1);
message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "camera/depth_registered/image_raw", 1);
改成：
message_filters::Subscriber<sensor_msgs::Image> rgb_sub(nh, "yourtopic", 1);
message_filters::Subscriber<sensor_msgs::Image> depth_sub(nh, "yourtopic", 1);
這裡的yourtopic是按照下文rostopic list查到的/kinect2/hd/image_color_rect和/kinect2/hd/image_depth_rect修改儲存
//因為kinect釋出的topic改變了，不是程式中預設的，所以需要改動，在啟動
roslaunch kinect_bridge kinect_bridge.launch 後，執行rostopic list，檢視釋出的話題，本文為：
"/kinect2/hd/image_color"和"kinect2/hd/image_depth_rect"

改動２：加入下面的ros環境變數，便於查詢路徑
$ sudo gedit ~/.bashrc
把路徑export ROS_PACKAGE_PATH = $ROS_PACKAGE_PATH:/home/junwang/ORB_SLAM2/Examples/ROS加進去，

$ source ~/.bashrc//報錯bash: export: `.......': 不是有效的識別符號,並且還是找不對目錄。

再嘗試

$ sudo gedit /opt/ros/indigo/setup.sh

最後加export ROS_PACKAGE_PATH = $ROS_PACKAGE_PATH:/home/junwang/ORB_SLAM2/Examples/ROS
$ source /opt/ros/indigo/setup.sh//成功

參考：https://blog.csdn.net/poulang5786/article/details/79150902

改動３：設定標定相機引數，仿照/Examples/RGB-D/TUM1.yaml並另存為kinect2.yaml，我自己的引數為：

%YAML:1.0

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 1.0599465578241038e+03
Camera.fy: 1.0539326808799726e+03
Camera.cx: 9.5488326677588441e+02
Camera.cy: 5.2373858291060583e+02

Camera.k1: 5.6268441170930321e-02
Camera.k2: -7.4199141308694802e-02
Camera.p1: 1.4250797540545752e-03
Camera.p2: -1.6951722389720336e-03
Camera.k3: 2.4107681263086548e-02

Camera.width: 1920
Camera.height: 1080

參考：https://blog.csdn.net/rainvictor1/article/details/72854137

https://blog.csdn.net/qq_30356613/article/details/71075244

3.編譯ORB_SLAM2

cd ~/ORB_SLAM2
chmod +x build.sh
./build.sh 

source /opt/ros/indigo/setup.sh

chmod +x build_ros.sh
./build_ros.sh

４．執行

cd ~/ORB_SLAM2/Examples/ROS
rosrun ORB_SLAM2 RGBD /home/junwang/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/junwang/ORB_SLAM2/Examples/RGB-D/kinect2.yaml

參考：https://www.cnblogs.com/bigzhao/p/6635770.html

5.彩蛋：MonoAR（注意：單目！開始平穩前後移動相機使其初始化，左下角顯示SLAM ON才可以再正常執行，跑Mono同理）

cd ~/catkin_ws/src/ORB_SLAM2
chmod +x build.sh
./build.sh 

chmod +x build_ros.sh
./build_ros.sh

cd ~/catkin_ws/src/ORB_SLAM2/Examples/ROS
rosrun ORB_SLAM2 MonoAR /home/junwang/catkin_ws/src/ORB_SLAM2/Vocabulary/ORBvoc.txt /home/junwang/catkin_ws/src/ORB_SLAM2/Examples/Monocular/kinect2.yaml

#若將ORB_SLAM2安裝在catkin_ws/src下則不需要每次執行ros時都設定環境變數