make error about mola HOT 9 CLOSED

What version of GTSAM are you using?

On disabling optimize native, it's just checking OFF the CMake flag GTSAM_BUILD_WITH_MARCH_NATIVE while building gtsam. I'll probably improve the docs in that area...

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What version of GTSAM are you using?

On disabling optimize native, it's just checking OFF the CMake flag GTSAM_BUILD_WITH_MARCH_NATIVE while building gtsam. I'll probably improve the docs in that area...

Thank you for your reply !
I am using GTSAM 4.0.0
So I added set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF) in the gtsam CMakeList.txt and rebuild gtsam. And I rebuild MOLA.
But the errors still exist , How can I solve it?

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So I added set(GTSAM_BUILD_WITH_MARCH_NATIVE OFF) in the gtsam CMakeList.txt and rebuild gtsam. And I rebuild MOLA.

Nope... use ccmake or cmake-gui instead.

On the "ISAM2Params" error, I think that we introduced that structure into gtsam after the release of 4.0.0... Please, take the latest release, from yesterday, I think ;-)

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Any news on this problem?

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Can you describe which fork of gtsam to use
for successful use with MOLA and how to actually build it with cmake-gui or
command prompt on ubuntu 16.

You can use the current gtsam master branch, and build it with:

cd gtsam
mkdir build
cd build
# NOTE: Set GTSAM_BUILD_WITH_MARCH_NATIVE to OFF only for Ubuntu 16.04 !! 
cmake .. -DGTSAM_BUILD_WITH_MARCH_NATIVE=OFF 
make gtsam && make gtsam_unstable

You'll need to upgrade cmake to 3.9 or newer. I prefer downloading cmake sources and building them setting CMAKE_INSTALL_PREFIX to some directory under home, e.g.:

cd cmake-3.15.2
mkdir build
cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$HOME/local_install_cmake/
make install -j4
$HOME/local_install_cmake/bin/cmake --version

Then go on with the normal compilation of mola:

cd mola
# Update the git repo if needed
cd build
# Change the build directories below as needed to match your local directories:
$HOME/local_install_cmake/bin/cmake .. -DGTSAM_DIR=$HOME/gtsam/build

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Hi @jlblancoc

Thank you for the detailed instructions.
I am getting the following error when building mola now.

/home/arav/extra_lib/gtsam/gtsam/base/Vector.h:72:1: error: static assertion failed: Error: GTSAM was built against a different version of Eigen
 static_assert(

Should I make gtsam with
-DGTSAM_USE_SYSTEM_EIGEN=ON
What version of eigen is required to successfully build with GTSAM? I want to use it with ROS kinetic on ubuntu 16

Thanks

Alex

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Any news on this problem?

I changed my ubuntu system version from 16.04 to 18.04, and there were no errors. Thanks a lot for your answer!

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@carleft :

I changed my ubuntu system version from 16.04 to 18.04, and there were no errors. Thanks a lot for your answer!

Great!

@aaravrav142 :

Should I make gtsam with
-DGTSAM_USE_SYSTEM_EIGEN=ON
What version of eigen is required to successfully build with GTSAM? I want to use it with ROS kinetic on ubuntu 16

If you want to use ros, gtsam, mola, all together, probably the easiest solution is to:

1. Make sure you have sourced ROS setup.bash, which most people normally do automatically via its .bashrc file.
2. Then configure GTSAM with -DGTSAM_USE_SYSTEM_EIGEN=ON. Take a look at CMakeCache.txt to check if the version of Eigen that CMake found is under /opt/ros/..., which I guess will be the case.
3. Build gtsam, then build mola.
4. Build your own apps, as needed.

All programs should now have found ROS' version of Eigen.

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