Hi !

My question consists in asking for help to understand how to update a package ( laserscanmatcher ) thanks to a modified code suggested on an already existing post Obtaining navmsgs/Odometry from a laserscan (eg. with laserscanmatcher) .

I have issues installing the modified odometry version of mpai227 (see existing post last answer).

This new code actually (the .h et .cpp file linked in the last answer of the already existing post) replaces the original laserscanmatcher.cpp ?(see laserscanmatcher git).

In order to install laserscanmatcher with those updated functionnalities, one would have to delete laserscanmatcher.cpp and paste the two new code files: the .h et .cpp of the old post last answer, or am I mistaking ? All of this being performed inside a dedicated sub-repository of the ~/catkin_ws/src ?

In addition, about mpai227 suggested changes to the CMakeLists.txt: one would need to paste the lines he suggested in the file, and delete the following original lines ?

Create library

addlibrary(laserscanmatcher src/laserscan_matcher.cpp)

Note we don't link against pcl as we're using header-only parts of the library

targetlinklibraries(laserscanmatcher ${catkinLIBRARIES} ${csmLIBRARIES}) adddependencies(laserscanmatcher ${csmEXPORTEDTARGETS} ${catkinEXPORTED_TARGETS})

I got the following shell output after entering the command:

~/catkinws$ catkinmake

Shell ouput:

PrivateBin link

Thanks !

NOTE: I'm doing this on a PC that has ROS Kinetic installed, when the git repository is at indigo devel.