ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
This may not be the answer you were expecting, but in short: I wouldn't catkinise GTSAM. it's not needed.
Treat it as a system dependency, meaning that you'd treat it as just about any other "non-ROS" library. See wheher CMake already has a FindGTSAM.cmake
(or whether someone else has written one) and add a find_package(GTSAM REQUIRED)
to your CMakeLists.txt
.
Then add ${GTSAM_LIBRARIES}
to your target_link_libraries(..)
and ${GTSAM_INCLUDE_DIRECTORIES}
to include_directories(..)
.
That should do it.
2 | No.2 Revision |
This may not be the answer you were expecting, but in short: I wouldn't catkinise GTSAM. it's not needed.
Treat it as a system dependency, meaning that you'd treat it as just about any other "non-ROS" library. See wheher CMake already has a FindGTSAM.cmake
(or whether someone else has written one) and add a find_package(GTSAM REQUIRED)
to your CMakeLists.txt
.
Then add ${GTSAM_LIBRARIES}
to your target_link_libraries(..)
and ${GTSAM_INCLUDE_DIRECTORIES}
to include_directories(..)
.
That should do it.
Edit: see #q263158 for an earlier question about this (which links to stackoverflow/44395859).
See CognitiveRobotics/omnimapper/CMakeLists.txt for an example that shows the system dependency approach (but note that repository is a bit old).
If you really want/need to, you could take a look at RoboStat/gtsam-in-ros.