This is the SLAVE README. Read it after reading the README in the slam repo

Build by cloning this into the src directory of your catkin workspace and then doing catkin_make.

To install GTSAM, follow the instructions (https://bitbucket.org/gtborg/gtsam), cloning into a folder outside your catkin workspace.

$ mkdir build

$ cd build

$ cmake ..

$ ccmake .. (set GTSAM_WITH_EIGEN_MKL and GTSAM_WITH_EIGEN_MKL_OPENMP to OFF)

$ make check (optional, runs unit tests)

$ make install

Clone into your catkin workspace source folder and then catkin_make.

Installing gtsam on Ubuntu 16.04: In file: /home/student/Downloads/gtsam-3.2.1/gtsam/base/FastSet.h add the line #include <boost/serialization/serialization.hpp> before the line #include <boost/serialization/set.hpp>

based on https://svn.boost.org/trac/boost/ticket/12126