operating system & kernel version
ubuntu16.04.5 lts 4.15.0-38-generic
ros version
ros kinetic kame 1.2.4
camera type
usb_cam驅動的攝像頭
gcc version
5.4.0
cmake version
3.3.2
opencv version
3.2.0
根據ubuntu的版本選擇ros的version，這裡的ubuntu的系統版本為ubuntu16.04.5 lts ，選擇的ros的version為ros kinetic kame，參見文獻1和文獻2的安裝教程，不再贅述。
usb_cam不僅僅支援uvc的裝置，v4l的裝置都支援，驅動安裝參見文獻3和文獻4的安裝教程。
將usb_cam的原始碼git clone到ros的工作空間catkin_ws的src目錄下:
git clonecd ..
catkin_make
opencv version
v3.2.0
pangolin version
the latest version
eigen3 version
3.2.10(required at least 3.1.0.)
dbow2 version
use as default included in the thirdparty folder
g2o version
use as default included in the thirdparty folder
參見文獻6，以上依賴庫(除包含在orb_slam2資料夾中的dbow2和g2o外)，均自己編譯安裝。
ros 不能再詳細的安裝教程
ubuntu 16.04 orb_slam2+ros+usb_cam+ar
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