# rgbdslam with electric install

I have used ROS fuerte and find it's too hard to make rgbdslam，so I use ROS electric now. I follow the tutorial(http://www.ros.org/wiki/rgbdslam),and I use Ubuntu 11.10 OS. From my first time to rosmake --rosdep-install rgbdslam,all package have compiled :

,but when start linking ,there are many error to remind me cannot find ***.so file

```
Linking CXX executable ../bin/rgbdslam
/usr/bin/ld: cannot find -lg2o_stuff/usr/lib/i386-linux-gnu/libQtOpenGL.so
```

so,I modify rgbdslam/CMakeFile.txt ,and set libs,finally CMakeFile.txt turn into this : (line 177)

```
SET(LIBS_LINK rgbdslam GL GLU g2o_types_slam3d g2o_solver_cholmod g2o_solver_pcg g2o_solver_csparse g2o_core cxsparse g2o_stuff QtOpenGL ${QT_LIBRARIES} ${QT_QTOPENGL_LIBRARY} ${GLUT_LIBRARY} ${OPENGL_LIBRARY} ${OpenCV_LIBS})
```

meanwhile I download a libQtOpenGL.so file,and put it into /lib/i386-linux-gnu/ but now,Error are different:

```
Linking CXX executable ../bin/rgbdslam
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `LinearSolverCholmod':
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:75: undefined reference to `cholmod_start'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:75: undefined reference to `cholmod_start'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::init()':
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:98: undefined reference to `cholmod_free_factor'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `~LinearSolverCholmod':
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:89: undefined reference to `cholmod_free_factor'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:92: undefined reference to `cholmod_finish'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:89: undefined reference to `cholmod_free_factor'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:92: undefined reference to `cholmod_finish'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::computeSymbolicDecomposition(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:252: undefined reference to `cholmod_analyze'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:278: undefined reference to `cholmod_amd'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:301: undefined reference to `cholmod_analyze_p'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solvePattern(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:202: undefined reference to `cholmod_factorize'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:207: undefined reference to `cholmod_change_factor'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)':
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:123: undefined reference to `cholmod_factorize'
/home/zhutou/ros/g2o/include/g2o/solvers/cholmod/linear_solver_cholmod.h:130: undefined reference to `cholmod_solve ...
```

Hi ,@allenh1,I have built all package include g2o