# graph_mapping compile error on Fuerte [closed]

Hey guys!

I'm using Ubuntu 11.10 with ROS Fuerte and I'm not being able to compile the pose_graph package. I managed to compile all dependencies, like slam_karto and vslam. I'm getting the following errors, which I believe are related with eigen migration to Fuerte:

```
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/pose_graph_impl.h:96:84: error: invalid type in declaration before ‘;’ token
In file included from /home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/utils.h:47:0,
from /home/santos/stacks/graph_mapping/pose_graph/src/pose_graph.cpp:35:
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:55:7: error: ‘Eigen3’ has not been declared
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:56:7: error: ‘Eigen3’ has not been declared
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:57:7: error: ‘Eigen3’ has not been declared
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:65:1: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:68:1: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:71:1: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:82:1: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:85:28: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:85:38: error: ISO C++ forbids declaration of ‘trans’ with no type [-fpermissive]
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:88:31: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:88:41: error: ISO C++ forbids declaration of ‘trans’ with no type [-fpermissive]
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:91:29: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:91:39: error: ISO C++ forbids declaration of ‘trans’ with no type [-fpermissive]
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:97:1: error: ‘Eigen3’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:100:1: error: ‘Eigen3’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:109:27: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:109:36: error: ISO C++ forbids declaration of ‘trans’ with no type [-fpermissive]
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:115:46: error: ‘Affine3d’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/transforms.h:115:56: error: ISO C++ forbids declaration of ‘trans’ with no type [-fpermissive]
In file included from /home/santos/stacks/graph_mapping/pose_graph/src/pose_graph.cpp:35:0:
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/utils.h:100:24: error: ‘Eigen3’ does not name a type
/home/santos/stacks/graph_mapping/pose_graph/include/pose_graph/utils.h:100:40: error: expected unqualified-id before ‘&’ token
/home/santos ...
```