Fix Build

[varunagrawal]

Updates to GPMP2 to fix compilation and modernize to the latest GTSAM.

Fixes #28.

[mattking-smith]

@varunagrawal did I miss something in the installation step here?

I have successfully pulled, compiled, and tested the release version on the develop branch of GTSAM.

I can build and install GPMP2, but see failures on my unit test with make check: buildCheckLog.txt.

I clearly see that the linux_ci is passing so is it because I am working in Ubuntu 20.04... Is that the issue?

On a debug branch, I almost got all the unit test working by adding

add_definitions(-D_GLIBCXX_USE_CXX11_ABI=1)
add_definitions(-DEIGEN_DONT_ALIGN_STATICALLY)

To the top-level CMakeLists.txt file in GPMP2 which I gleaned to do because I thought maybe misalignment issues with Boost and Eigen. I would be happy to hear your thoughts you have on the matter as this very well could be me missing something crucial.

Compiler config

g++ --version
g++ (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0

[varunagrawal]

Your issue is not related to the Ubuntu version. If you look at the log file you shared, it's clearly a linker issue.

Maybe try running make install on gpmp2 and running the tests again. It may be linking against an older version that you may have on your system (or trying to link from the library location).

[varunagrawal]

@dellaert CI passes!

[dellaert]

Cool !!!