Orb_slam2: Undefined reference to symbol '_ZN5boost6system15system_categoryEv'

Created on 27 Dec 2017  ·  28Comments  ·  Source: raulmur/ORB_SLAM2

Hello, I have a problem with the new ROS libopencv_calib3d3.so.3.3.1 just now after an Ubuntu update, I solved this problem deleting the build and devel folder to then compile the new libs but now the problem is other when I try to compile the ORB_SLAM2 with ROS obtaining the next problems:

aldrich98@raldrich98:~/catkin_ws/src/ORB_SLAM2$ ./build_ros.sh
Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
[rosbuild] Building package ORB_SLAM2
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost

[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_precompile
[ 12%] Built target Mono_INEGI
[ 18%] Linking CXX executable ../Stereo
[ 25%] Linking CXX executable ../RGBD
[ 37%] Built target Mono_Extractor
[ 50%] Built target Mono
[ 56%] Linking CXX executable ../RGBD_fake
[ 75%] Built target MonoAR
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:217: recipe for target '../RGBD' failed
make[2]: * [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: [CMakeFiles/RGBD.dir/all] Error 2
make[1]: Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:217: recipe for target '../Stereo' failed
make[2]: [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: [CMakeFiles/Stereo.dir/all] Error 2
/usr/bin/ld: CMakeFiles/RGBD_fake.dir/src/ros_rgbd_fake.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD_fake.dir/build.make:243: recipe for target '../RGBD_fake' failed
make[2]: [../RGBD_fake] Error 1
CMakeFiles/Makefile2:733: recipe for target 'CMakeFiles/RGBD_fake.dir/all' failed
make[1]: [CMakeFiles/RGBD_fake.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: * [all] Error 2

picture AldrichCabrera

Most helpful comment

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

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
)

picture AldrichCabrera on 10 Jan 2018
👍81 ❤34 🎉34 🚀15 😄14

All 28 comments

it's because the program can't find libboost_system.so and libboost_filesystem.so . Copy the two libs to ORB_SLAM2/lib , and then modify the CMakeLists.txt 

     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 
++
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so 
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so

and you can use locate boost_system boost_filesystem to find it

shejing picture shejing on 28 Dec 2017
👍11 👎6

I solved this problem adding this:

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
)

-lboost_system

AldrichCabrera picture AldrichCabrera on 28 Dec 2017
👍67 🎉16

Did you add all the above to the end of the CMakeLists.txt? Did you also do anything else?
I am getting the exact same output as you got, but I have not been able to fix this yet.
Thank you!

teundeplanque picture teundeplanque on 8 Jan 2018
👍1

I only put -lboost_system inside set(LIBS...) Could show us the error? And your CMakeList.txt

AldrichCabrera picture AldrichCabrera on 9 Jan 2018

I get the following error:

teun@teun-VirtualBox:~/ORB_SLAM2$ ./build_ros.sh
Building ROS nodes
mkdir: cannot create directory ‘build’: File exists
[rosbuild] Building package ORB_SLAM2
[rosbuild] using multiarch 'x86_64-linux-gnu' for finding Boost
-- Using CATKIN_DEVEL_PREFIX: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Skip enable_testing() for dry packages
-- Using CATKIN_TEST_RESULTS_DIR: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.8
-- Using these message generators: gencpp;geneus;genlisp;gennodejs;genpy
[rosbuild] Including /opt/ros/kinetic/share/roslisp/rosbuild/roslisp.cmake
[rosbuild] Including /opt/ros/kinetic/share/roscpp/rosbuild/roscpp.cmake
[rosbuild] Including /opt/ros/kinetic/share/rospy/rosbuild/rospy.cmake
Build type: Release
-- Using flag -std=c++11.
-- Configuring done
-- Generating done
-- Build files have been written to: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/build
[ 0%] Built target rospack_genmsg_libexe
[ 0%] Built target rosbuild_precompile
[ 11%] Linking CXX executable ../RGBD
[ 22%] Linking CXX executable ../Stereo
[ 44%] Built target Mono
[ 77%] Built target MonoAR
/usr/bin/ld: CMakeFiles/RGBD.dir/src/ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/RGBD.dir/build.make:216: recipe for target '../RGBD' failed
make[2]: * [../RGBD] Error 1
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: [CMakeFiles/RGBD.dir/all] Error 2
make[1]: Waiting for unfinished jobs....
/usr/bin/ld: CMakeFiles/Stereo.dir/src/ros_stereo.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv'
/usr/lib/x86_64-linux-gnu/libboost_system.so: error adding symbols: DSO missing from command line
collect2: error: ld returned 1 exit status
CMakeFiles/Stereo.dir/build.make:216: recipe for target '../Stereo' failed
make[2]: [../Stereo] Error 1
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: [CMakeFiles/Stereo.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: * [all] Error 2

I added -lboost_system to CMakeList.txt like this:

target_link_libraries(${PROJECT_NAME}
${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
)

This is my whole CMakeList.txt:

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
${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
)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/RGB-D)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Stereo)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/Examples/Monocular)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

And added this to the end of the ~/.bashrc file
source /opt/ros/kinetic/setup.bash
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:/home/teun/ORB_SLAM2/Examples/ROS

teundeplanque picture teundeplanque on 9 Jan 2018

Ok. In your first CmakeList.txt remove -lboost_system:

target_link_libraries(${PROJECT_NAME}
${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
)

In your second CmakeList should put this flag in these parts:

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/lib
-lboost_system
)

Remove -lboost_system here:

target_link_libraries(${PROJECT_NAME}
${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
)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/RGB-D
-lboost_system
)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Stereo
-lboost_system
)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Monocular
-lboost_system)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

I hope it works.

AldrichCabrera picture AldrichCabrera on 9 Jan 2018

I added the -lboost_system flags but continue to get the same error after changing my CMakeLists.txt file.
This is the updated CMakeLists.txt file (-lboost_system in bold):

cmake_minimum_required(VERSION 2.8)
project(ORB_SLAM2)

IF(NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native ")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")

include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-DCOMPILEDWITHC11)
message(STATUS "Using flag -std=c++11.")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
add_definitions(-DCOMPILEDWITHC0X)
message(STATUS "Using flag -std=c++0x.")
else()
message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()

LIST(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake_modules)

find_package(OpenCV 3.0 QUIET)
if(NOT OpenCV_FOUND)
find_package(OpenCV 2.4.3 QUIET)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 2.4.3 not found.")
endif()
endif()

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/include
${EIGEN3_INCLUDE_DIR}
${Pangolin_INCLUDE_DIRS}
)

set(CMAKE_LIBRARY_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/lib
-lboost_system
)

add_library(${PROJECT_NAME} SHARED
src/System.cc
src/Tracking.cc
src/LocalMapping.cc
src/LoopClosing.cc
src/ORBextractor.cc
src/ORBmatcher.cc
src/FrameDrawer.cc
src/Converter.cc
src/MapPoint.cc
src/KeyFrame.cc
src/Map.cc
src/MapDrawer.cc
src/Optimizer.cc
src/PnPsolver.cc
src/Frame.cc
src/KeyFrameDatabase.cc
src/Sim3Solver.cc
src/Initializer.cc
src/Viewer.cc
)

target_link_libraries(${PROJECT_NAME}
${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
)

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/RGB-D
-lboost_system
)

add_executable(rgbd_tum
Examples/RGB-D/rgbd_tum.cc)
target_link_libraries(rgbd_tum ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Stereo
-lboost_system
)

add_executable(stereo_kitti
Examples/Stereo/stereo_kitti.cc)
target_link_libraries(stereo_kitti ${PROJECT_NAME})

add_executable(stereo_euroc
Examples/Stereo/stereo_euroc.cc)
target_link_libraries(stereo_euroc ${PROJECT_NAME})

set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
${PROJECT_SOURCE_DIR}/Examples/Monocular
-lboost_system
)

add_executable(mono_tum
Examples/Monocular/mono_tum.cc)
target_link_libraries(mono_tum ${PROJECT_NAME})

add_executable(mono_kitti
Examples/Monocular/mono_kitti.cc)
target_link_libraries(mono_kitti ${PROJECT_NAME})

add_executable(mono_euroc
Examples/Monocular/mono_euroc.cc)
target_link_libraries(mono_euroc ${PROJECT_NAME})

teundeplanque picture teundeplanque on 9 Jan 2018
👍2

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

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
)

AldrichCabrera picture AldrichCabrera on 10 Jan 2018
👍81 ❤34 🎉34 🚀15 😄14

It is working now. :) Thank you very much for the support! I really appreciate your help AldrichCabrera.

teundeplanque picture teundeplanque on 11 Jan 2018
👍5

@AldrichCabrera thank you

ujur007 picture ujur007 on 4 Jul 2018

@AldrichCabrera Thank you!

luoxiaojie9527 picture luoxiaojie9527 on 2 Aug 2018

@AldrichCabrera Thank you

MarcusFutterlieb picture MarcusFutterlieb on 2 Aug 2018

@AldrichCabrera Thank you

leticiahelenasp picture leticiahelenasp on 23 Aug 2018

@AldrichCabrera I have followed your instructions, but it doesn't work for me.

TengFeiHan0 picture TengFeiHan0 on 29 Aug 2018

@AldrichCabrera Thank you!!

cmdraghici picture cmdraghici on 3 Sep 2018

Thanks you !!

ShettyHarapanahalli picture ShettyHarapanahalli on 21 Sep 2018

@AldrichCabrera Thank you！

cobnst picture cobnst on 28 Oct 2018

it's because the program can't find libboost_system.so and libboost_filesystem.so . Copy the two libs to ORB_SLAM2/lib , and then modify the CMakeLists.txt

     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 
++
${PROJECT_SOURCE_DIR}/../../../lib/libboost_filesystem.so 
${PROJECT_SOURCE_DIR}/../../../lib/libboost_system.so

and you can use locate boost_system boost_filesystem to find it

I Tried this but face some more error

make[2]: * No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../Mono'. Stop.
make[2]: No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../Stereo'. Stop.
CMakeFiles/Makefile2:718: recipe for target 'CMakeFiles/Mono.dir/all' failed
make[1]: [CMakeFiles/Mono.dir/all] Error 2
make[1]: Waiting for unfinished jobs....
CMakeFiles/Makefile2:104: recipe for target 'CMakeFiles/Stereo.dir/all' failed
make[1]: [CMakeFiles/Stereo.dir/all] Error 2
make[2]: No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../RGBD'. Stop.
CMakeFiles/Makefile2:67: recipe for target 'CMakeFiles/RGBD.dir/all' failed
make[1]: [CMakeFiles/RGBD.dir/all] Error 2
make[2]: No rule to make target '../../../../lib/libboost_filesystem.so', needed by '../MonoAR'. Stop.
CMakeFiles/Makefile2:820: recipe for target 'CMakeFiles/MonoAR.dir/all' failed
make[1]: [CMakeFiles/MonoAR.dir/all] Error 2
Makefile:127: recipe for target 'all' failed
make: * [all] Error 2

But below resolved

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
)

gnykumar picture gnykumar on 15 Jan 2019

Just adding -lboost_system to set(LIBS... directive in Examples/ROS/ORB_SLAM2/CMakeLists.txt worked for me!

positron96 picture positron96 on 11 Apr 2019
👍2

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

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
)

@AldrichCabrera Thank you！

Thank you!!

kimkt0408 picture kimkt0408 on 16 May 2019
👍1

@AldrichCabrera, thank you so much! That really solved my problem :) :+1:

Gentser picture Gentser on 25 May 2019

think you very much! I have spent the whole day on this !

xkaneiki picture xkaneiki on 6 Jul 2019

thx @AldrichCabrera , it help me a lot !

CHOUUUUUUUUU picture CHOUUUUUUUUU on 16 Jul 2019

thx @AldrichCabrera ,it is very useful!

lijinglin-star picture lijinglin-star on 12 Feb 2020

Fixed! Thanks @AldrichCabrera.

EDU4RDO-SH picture EDU4RDO-SH on 26 Mar 2020

Just a note if you want to use the cmake module for boost to link the library, modifying the cmake file at Examples/ROS/ORB_SLAM2/CMakeList.txt as follows worked for me (modifications are in bold):

find_package(Eigen3 3.1.0 REQUIRED)
find_package(Pangolin REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)

include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/../../../
${PROJECT_SOURCE_DIR}/../../../include
${Pangolin_INCLUDE_DIRS}
)

set(LIBS
${OpenCV_LIBS}
${EIGEN3_LIBS}
${Pangolin_LIBRARIES}
${Boost_LIBRARIES}
${PROJECT_SOURCE_DIR}/../../../Thirdparty/DBoW2/lib/libDBoW2.so
${PROJECT_SOURCE_DIR}/../../../Thirdparty/g2o/lib/libg2o.so
${PROJECT_SOURCE_DIR}/../../../lib/libORB_SLAM2.so
)

gidobot picture gidobot on 9 Jun 2020

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

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
)

Great！

hdd0723 picture hdd0723 on 25 Sep 2020

Ok, I got confused. Remove all the flags in that CMakeList. I see that this CMakeList is the principal, you should do the changes in the ROS CMakeList. I think that is here: /home/teun/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeList.txt

It should have this:

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
)

Thank You! 🔥❤️

ramithuh picture ramithuh on 27 Jan 2021
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