catkin build fails: wrong gtsam version

[shabpompeiano]

Description: When following the installation guide, catkin build fails

Command:

catkin build

Console output:

Boost libraries missing and gtsam missing Pose3

Please give also the following information:

• KimeraVIO branch, tag or commit used
• GTSAM version used: 4.3
• OpenGV version used: -
• OpenCV version used: type opencv_version -
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu 18.04
• Did you change the source code? (yes / no): no

What worked for me: Since Gtsam has been updated to 4.3, it seems like it is not compatible. Checkout tag 4.1.1 of gtsam: cd gtsam && git checkout tags/4.1.1

[myboyhood]

@shabpompeiano Yes! 4.1.1 is fine to build the project, but I find the trajectory is drifting using the default Euroc launch file When I run roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch online:=true Have you change any params before running the Kimera-VIO or Kimera-VIO-ROS ?