gtsam_node

graph optimization in ROS using GTSAM

GTSAM installation

clone gtsam from github https://github.com/borglab/gtsam

$ mkdir build
$ cd build
$ cmake ..
$ make check (optional, runs unit tests)
$ make install

change the parameter below in CmakeLists to where gtsam is built

"set(GTSAM_DIR "/home/iman/gtsam/build")"