graph_localizer GTSAM Fixes

nasa / astrobee

NASA Astrobee Robot Software

https://www.nasa.gov/astrobee

Apache License 2.0

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graph_localizer GTSAM Fixes #772

Closed zauberflote1 closed 3 months ago

zauberflote1 commented 4 months ago

Behavior: catkin build fails due to incorrect syntax of GTSAM Pose3 Fix: Use Pose3() instead of Pose3::identity() Outcome: Successful build.

Notes: Activating the CMAKE flag GTSAM_ALLOW_DEPRECATED_SINCE_V41 doesn't fix this issue -- also this is already a default option on the current implementation

--ZBFT

Screenshot from 2024-03-15 21-38-53

Screenshot from 2024-03-15 19-52-27

rsoussan commented 3 months ago

Hi, can you tell me a little more about your build environment (Ubuntu version, etc)? Are you following the NASA install instructions or are you linking to a more recent GTSAM repo?

zauberflote1 commented 3 months ago

Hello Ryan, I am following the tutorial from the doxyfiles documentation, which builds GTSAM and dependencies using the Debian scripts. My libgtsam deb package name/version is 4.1.0-1+focal1.

Regarding my environment, Ubuntu 20.04 Kernel 5.15.0-100-generic, Source build.

About linking a newer version of GTSAM, I believe it is feasible with minimal syntax correction, but this is not my intended goal for this pull request.

Thanks for reviewing,

--ZBFT