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MIT-SPARK / Kimera-RPGO

Robust Pose Graph Optimization
BSD 2-Clause "Simplified" License
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Fix build error in Ubuntu 20.04 #96

Closed LimHyungTae closed 3 months ago

LimHyungTae commented 3 months ago

Build error message:

image

Solution

In the context of #94 (the solution is also given here: MIT-SPARK/Kimera-VIO-ROS#205), we conclude to change BOOST_CONCEPT_ASSERT with GTSAM_CONCEPT_ASSERT instead of adding redundant header files.

LimHyungTae commented 3 months ago

Oh wait, but according to @nathanhhughes' mention about the version of GTSAM in Hydra, I changed GTSAM to that version, and GTSAM_CONCEPT_ASSERT seems not to be supported. image.

It might be #94 is the more general, version-agnostic solution.

LimHyungTae commented 3 months ago

In conclusion: When the GTSAM version is 4.2a8, the original code works. But, now, the Kimera-VIO-ROS points develop branch of the GTSAM, which still has been updated, I think #94 is one of nice solutions.

yunzc commented 3 months ago

Great! Let's go with #94 for now. Happy to switch to this when we confirm everything is on develop. (I think Hydra might work with develop but a few things like Kimera-Multi and LAMP needs to be tested).