问题：
mcslam_node: /opt/ros/indigo/include/g2o/core/block_solver.hpp:75: void g2o::BlockSolver<Traits>::resize(int*, int, int*, int, int) [with Traits = g2o::BlockSolverTraits<6, 3>]: Assertion `_sizePoses > 0 && "allocating with wrong size"' failed回想起来自己ROS系统中装了libg2o，于是卸载之：sudo apt-get remove ros-indigo-libg2o
有些节点如lsd_slam需要libg2o。
所以用lsd_slam的时候在sudo apt-get install ros-indigo-libg2o