diff --git a/commands_extra/ros1_algorithm/shell/install_orbslam2_ros1_source.sh b/commands_extra/ros1_algorithm/shell/install_orbslam2_ros1_source.sh
new file mode 100755
index 0000000000000000000000000000000000000000..8571321f665b7b1d5bfbb62256c80f64c091194d
--- /dev/null
+++ b/commands_extra/ros1_algorithm/shell/install_orbslam2_ros1_source.sh
@@ -0,0 +1,59 @@
+#!/bin/bash
+################################################################
+# Function :Install ROS1 Noetic ORB_SLAM2                      #
+# Platform :All Linux Based Platform                           #
+# Version  :1.0                                                #
+# Date     :2022-11-30                                         #
+# Author   :ncnynl EndlessLoops                                #
+# Contact  :1043931@qq.com                                     #
+# Company  :Foshan AiZheTeng Information Technology Co.,Ltd.   #
+# URL: https://ncnynl.com                                      #
+################################################################
+
+workspace=ros1_vslam_ws
+
+if [ -d ~/$workspace/ORB_SLAM2 ]; then
+    echo "ORB_SLAM2 have installed!!" 
+else
+    if [ ! -d ~/$workspace/ ];then
+        mkdir -p ~/$workspace/
+    fi
+    ## isntall lib
+    sudo apt-get update
+    sudo apt-get install libpython2.7-dev libboost-filesystem-dev libboost-dev libboost-thread-dev libglew-dev libblas-dev liblapack-dev
+    sudo apt-get install cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev build-essential 
+
+    ## install Pangolin
+    cd ~/$workspace/
+    git clone https://ghproxy.com/https://github.com/stevenlovegrove/Pangolin
+    cd ~/$workspace/Pangolin
+    git checkout 25159034e62011b3527228e476cec51f08e87602
+    mkdir build
+    cd build
+    cmake -DCPP11_NO_BOOST=1 ..
+    make
+
+    ## install ORB_SLAM2/
+    cd ~/$workspace/
+    git clone -b noetic https://gitee.com/ncnynl/ORB_SLAM2/
+    cd ~/$workspace/ORB_SLAM2
+    chmod +x build.sh build_ros.sh
+    ./build.sh
+    #echo "ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:~/ros1_vslam_ws/ORB_SLAM2/Examples/ROS" >> ~/.bashrc
+   
+
+
+    #add to bashrc if not exits
+    if ! grep -Fq "$workspace/ORB_SLAM2/Examples/ROS" ~/.bashrc
+    then
+        echo "ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:$HOME/ros1_vslam_ws/ORB_SLAM2/Examples/ROS" >> ~/.bashrc
+        echo " $workspace workspace have installed successfully! writed to ~/.bashrc"
+    else
+        echo "Has been inited before! Please check ~/.bashrc"
+    fi    
+    ./build_ros.sh
+
+    echo "ROS ${ROS_DISTRO} ORB_SLAM2 installed successfully"
+fi
+
+