Issue installing dvo_slam on ros Indigo with the Sophus dependecies

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Dear all,

I am following this github guide to installing dvo_slam on ros indigo ( https://github.com/songuke/dvo_slam ). I almost have it working, but every time i compile I get the following error:

/usr/bin/ld: /usr/local/lib/libg2o_core.a(hyper_graph_cpp.o): relocation R_X86_64_325 against '_ZTVN3g2o10HyperGraph4EdgeE' can not be used when making a shared object: recompile with -fPIC /usr/local/lib/libg2o_core.a: error adding symbols: Bad value collect2: error: ld returned 1 exit status

This error apparently is related to the dvo_slam/CMakeFiles/dvo_slam.dir/all file. I believe the error originated in the modified Sophus dependency folder, but I am unsure.

I also get the following CMake warning:

(dev) at perception_pcl/pcl_ros/CMakeLists.txt:80 (add_dependencies): Policy CMP0046 is not set: Error on non-existent dependency in add_dependencies. Run "cmake -- help-policy CMP0046" for policy details. Use the cmake_policy command to set the policy and suppress this warning.

The dependency target "pcl_ros_generate_messages_cpp" of target "pcl_ros_tf" does not exist.

I believe that this warning does not impact the error, but I am unsure. I'm including it in case it does.

Any help on resolving these would be greatly appreciated, as the package compiles 98% of the way. Tags