CSM depends on GSL that you probably have installed already. To install it:
CSM depends on GSL that you probably have installed already. To install it:
```
```
sudo apt install libgsl-dev
sudo apt install libgsl-dev
```
```
\ No newline at end of file
**FALKO Library - falkolib**
To enbale scan matching for loop closure purposes. The library is added as submodule in the deps folder. In order to initialize the submodule use the following commands:
```
cd <your/path>
git submodule init
git submodule update
```
In order to compile and install the repository:
```
cd <your/path>
cd deps/openslam_falkolib/
mkdir build
cd build
cmake ..
make
```
You can also install the library into a system directory.
To change the install directory you must set cmake environment
variable ${CMAKE_INSTALL_PREFIX} (e.g. using command "ccmake .."
before calling "cmake ..").
Its default value on UNIX-like/Linux systems is "/usr/local".
After compiling library falkolib, run the command:
```
sudo make install
```
The command "sudo" is required only if ${CMAKE_INSTALL_PREFIX}
is a system diretory managed by administrator user root.
Such command copies:
- header files of ${falkolib_ROOT}/include/falkolib to
${CMAKE_INSTALL_PREFIX}/include/falkolib/
- library files ${falkolib_ROOT}/lib/libfalkolib.a to
${CMAKE_INSTALL_PREFIX}/lib/
- cmake script ${falkolib_ROOT}/cmake_modules/falkolibConfig.cmake to
