报错现象：
/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:191: 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 make[1]: *** 正在等待未完成的任务.... /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:191: 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 Makefile:127: recipe for target 'all' failed make: *** [all] Error 2解决办法：
修改ROS下的CMakeLists.txt文件如下：
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 )原本不含-lboost_system，加上去即可成功编译通过！
参考链接： https://github.com/raulmur/ORB_SLAM2/issues/494
