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Apparently RGBDSLAM uses the ROS package libg2o now, however I (and many poeple) could not get it to work with libg2o, so I checked out the g2o package svn co https://svn.openslam.org/data/svn/g2o and changed the dependency in the manifest.xml to <depend package="g2o"/> instead of . Make sure to include the g2o package in your ROS PACKAGE PATH.

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