u20.04安装slam库

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u20.04安装slam库

git clone .git                  // 下载的最新版是模板类的
git checkout a621ff    // 切换为非模板类的历史版本

模板类Sophus的依赖库是Eigen(版本为3.3.X)和fmt，需提前安装好Eigen库和fmt库 

git clone .git

sudo apt-get install libeigen3-dev libsuitesparse-dev qtdeclarative5-dev qt5-qmake

git clone .git

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s .asc | sudo apt-key add -
 

sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

sudo apt update

sudo apt install ros-foxy-desktop