# RGBDslam error in Fuerte and electric

After trying any paths I could find, I seem to have run up against a wall I can't get past. I have tried rgbdslam in fuerte and electric, on the same computer but in different /opt/ros/ directories, but with similar results either way.

When I try `rosmake rgbdslam_freiburg`

in fuerte, I get an "undefined reference to g2o::globalStats" message multiple times.

```
graph_manager.cpp:(.text._ZN3g2o11BlockSolverINS_17BlockSolverTraitsILi6ELi3EEEE16computeMarginalsERNS_17SparseBlockMatrixIN5Eigen6MatrixIdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISC_EE[g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::computeMarginals(g2o::SparseBlockMatrix<Eigen::Matrix<double, -1, -1, 0, -1, -1> >&, std::vector<std::pair<int, int>, std::allocator<std::pair<int, int> > > const&)]+0x57): undefined reference to `g2o::globalStats'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::computeMarginals()':
graph_manager.cpp:(.text._ZN3g2o11BlockSolverINS_17BlockSolverTraitsILi6ELi3EEEE16computeMarginalsEv[g2o::BlockSolver<g2o::BlockSolverTraits<6, 3> >::computeMarginals()]+0xe5): undefined reference to `g2o::globalStats'
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&)':
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCholmodIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE28computeSymbolicDecompositionERKNS_17SparseBlockMatrixIS3_EE[g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::computeSymbolicDecomposition(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)]+0x73): undefined reference to `g2o::globalStats'
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&)':
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCholmodIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE12solvePatternERNS_17SparseBlockMatrixINS2_IdLin1ELin1ELi0ELin1ELin1EEEEERKSt6vectorISt4pairIiiESaISB_EERKNS5_IS3_EE[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&)]+0x19d): undefined reference to `g2o::globalStats'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)':
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCholmodIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE11solveBlocksERPPdRKNS_17SparseBlockMatrixIS3_EE[g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solveBlocks(double**&, g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&)]+0x183): undefined reference to `g2o::globalStats'
CMakeFiles/rgbdslam.dir/src/graph_manager.o:graph_manager.cpp:(.text._ZN3g2o19LinearSolverCholmodIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)]+0x112): more undefined references to `g2o::globalStats' follow
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*)':
graph_manager.cpp:(.text._ZN3g2o19LinearSolverCholmodIN5Eigen6MatrixIdLi6ELi6ELi0ELi6ELi6EEEE5solveERKNS_17SparseBlockMatrixIS3_EEPdS9_[g2o::LinearSolverCholmod<Eigen::Matrix<double, 6, 6, 0, 6, 6> >::solve(g2o::SparseBlockMatrix<Eigen::Matrix<double, 6, 6, 0, 6, 6> > const&, double*, double*)]+0x220): undefined reference to `g2o::writeCCSMatrix(char const*, int, int, int const*, int const*, double const*, bool)'
CMakeFiles/rgbdslam.dir/src/graph_manager.o: In function `g2o::LinearSolverCSparse<Eigen::Matrix ...
```