参考ORB-SLAM2和3官网
https://blog.csdn.net/hhhhpanda/article/details/85037463
出现如下错误：

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
)

加上-lboost_system

rosrun ORB_SLAM2 zed_Stereo_rect Vocabulary/ORBvoc.txt Examples/Stereo/EuRoC.yaml false

zed2自带配置