GTSAM meets Catkin

The package is a wrapper around GTSAM to allow using it easily with Catkin.

Funtionality

It features a CMake script that carries out main functions:

• downloads specified GTSAM tag from GitHub repository (newest develop by default)
• exports GTSAM includes, so they are available as ${gtsam_catkin_INCLUDE_DIRS} for other catkin packages.
• exports GTSAM libraries, so they are available as ${gtsam_catkin_LIBRARIES} for other catkin packages.

How to use?

Just clone it to your catkin workspace and run:

• catkin build gtsam_catkin

Alternatively, you can run cmake from source:

• mkdir build
• cd build
• cmake ..

Also, you can pass git tag if you want to (version 3.2.1):

• cmake -DGIT_TAG=3c1d2746a80e ..

It downloads and builds GTSAM. It takes a lot of time, so have patience.

Some details

This package does all the work in CMake phase. The reason for this is that we need to have access to all libraries built by GTSAM by the time we reach the end of CMakeLists.txt stored in this repository. There is no need to build (read: run make on) this repository as it does not define any new targets.