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git clone https://github.com/strasdat/Sophus.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 https://github.com/fmtlib/fmt.git

 

 

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

git clone https://github.com/RainerKuemmerle/g2o.git

sudo apt update && sudo apt install curl gnupg2 lsb-release
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
 

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

sudo apt update

sudo apt install ros-foxy-desktop