# Obtaining nav_msgs/Odometry from laser_scan_matcher

Hi !

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

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 laser_scan_matcher.cpp ?(see laser_scan_matcher git).

In order to install laser_scan_matcher with those updated functionnalities, one would have to delete laser_scan_matcher.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

#Note we don't link against pcl as we're using header-only parts of the library target_link_libraries(laser_scan_matcher ${catkin_LIBRARIES}${csm_LIBRARIES}) add_dependencies(laser_scan_matcher ${csm_EXPORTED_TARGETS}${catkin_EXPORTED_TARGETS})

I got the following shell output after entering the command:

~/catkin_ws\$ catkin_make

Shell ouput:

Thanks !

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

edit retag close merge delete

by the way, avoid installing python-vtk in order to fix vtkRenderingPythonTkWidgets error (see PrivateBin link), it will erase a whole bunch of ros-kinetic packages ... I guess mpai227 fixes to get the odometry now face depencies issues :/

( 2017-07-12 03:57:25 -0500 )edit