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Published 20 hours ago • verified publisher icon MIT-SPARK

Fix for the Dockerfile, and made the code compatible with the current master branch of GTSAM

Open sanderfo opened this issue 2 years ago • 1 comments

Currently, the Docker install does not work, for two reasons. The first issue is described in https://github.com/MIT-SPARK/Kimera-VIO/issues/180 . The second reason is that Kimera-VIO does not compile with the current master branch of GTSAM, as they have removed the deprecated way to set evaluateNonlinearError and cacheLinearizedFactors. I have updated Kimera-VIO to account for this.

sanderfo avatar Mar 02 '22 21:03 sanderfo

[Tip] Since there is no one maintaining the merge, If you are building from source, you can just modify the other two cpp files from this branch.

jaku-jaku avatar Sep 22 '22 01:09 jaku-jaku

It seems there is a branch contain this fix: https://github.com/MIT-SPARK/Kimera-VIO/compare/master...feature/hydra

jaku-jaku avatar Sep 28 '22 00:09 jaku-jaku

Thank you @jaku-jaku for the fix! This PR works on my end, a similar change will be included in an update to Kimera-VIO very soon. Unfortunately I cannot merge as our CI uses an older gtsam commit and upgrading the gtsam commit introduces a few other problems for projects that use Kimera as a dependency.

For those who want to use an older gtsam commit, use e5866799dff48239573cdd84964180867e50edd2. This will work without this PR.

marcusabate avatar Sep 28 '22 01:09 marcusabate