[Bug集合]ros_rgbd.cc.o: undefined reference to symbol '_ZN5boost6system15system_categoryEv' /usr/lib/x

最新推荐文章于 2026-07-11 09:37:51 发布

原创最新推荐文章于 2026-07-11 09:37:51 发布 · 2.8k 阅读

26 ·

本内容遵循CC 4.0 BY-SA版权协议

收录于

Bug集合

本文详细记录了在安装ORB_SLAM2过程中遇到的链接器错误，特别是关于boost_system库的问题，并分享了一种有效的解决方案，即在CMakeLists.txt文件中明确添加-lboost_system来确保正确链接。

在安装ORB_SLAM2时产生的问题。

/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
/usr/bin/ldcollect2: error: ld returned 1 exit status
: 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/RGBD.dir/build.make:215: 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]: *** 正在等待未完成的任务....
CMakeFiles/Stereo.dir/build.make:215: 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

我使用这种改错法没用：

https://blog.csdn.net/sinat_38343378/article/details/78883919#commentsedit

最后选择这种改错法：

https://github.com/raulmur/ORB_SLAM2/issues/494

在~/catkin_ws/src/ORB_SLAM2/Examples/ROS/ORB_SLAM2/CMakeLists.txt里添加一句-lboost_system

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
)

标签

#ORB_SLAM2