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@Oh233 but i have already "make -j $(nproc) USE_OPENCV=1 USE_BLAS=openblas USE_CUDA=1 USE_CUDA_PATH=/usr/local/cuda USE_CUDNN=1" , USE_CUDA=1 . is there any question?

@rnunziata I get the same problem as your, can u tell me how to solve this, THANKS

add "SET(Sophus_LIBRARIES libSophus.so " to /catkin_ws/src/rgp_vikit/vikit_common/CMakeLists.txt such as 

which verison of drake ? Can u explain it? thanks. @dayanmayi @andybarry @hughhugh