sophus

See sophus on index.ros.org for more info including aything ROS 2 related.

About

This is a ros 3rd party package that provides Hauke Strasdat's sophus library.

Installation From Deb

$ sudo apt-get install ros-kinetic-sophus

To use it from your own catkin package you need to make sure you get the dependency syntax right. The cmake commands in particular are subtly different from depending on a catkin package. An example:

CMakeLists.txt

   1 find_package(catkin REQUIRED COMPONENTS                                   
   2                  ecl_linear_algebra
   3                  ecl_time 
   4                  dslam_common
   5                  )
   6 find_package(sophus REQUIRED)
   7 
   8 catkin_package(
   9     INCLUDE_DIRS include 
  10     LIBRARIES ${PROJECT_NAME}
  11     DEPENDS                
  12         sophus
  13     CATKIN_DEPENDS                
  14         ecl_linear_algebra
  15         ecl_time
  16         dslam_common
  17     )

package.xml

   1   <build_depend>ecl_linear_algebra</build_depend>
   2   <build_depend>ecl_time</build_depend>
   3   <build_depend>sophus</build_depend>
   4   <build_depend>dslam_common</build_depend>
   5 
   6 
   7   <run_depend>ecl_linear_algebra</run_depend>
   8   <run_depend>ecl_time</run_depend>
   9   <run_depend>sophus</run_depend>
  10   <run_depend>dslam_common</run_depend>

Installation from Source

See the README.