gps fusion implemented

global_fusion/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(global_fusion)
+
+set(CMAKE_BUILD_TYPE "Debug")
+set(CMAKE_CXX_FLAGS "-std=c++11")
+set(CMAKE_CXX_FLAGS_DEBUG "-O3 -Wall -g")
+
+find_package(catkin REQUIRED COMPONENTS
+        roscpp
+        rospy
+        std_msgs
+        rosbag
+        tf
+        std_msgs
+        geometry_msgs
+        sensor_msgs
+        nav_msgs
+)
+
+find_package(Ceres REQUIRED)
+
+add_subdirectory(./Thirdparty/GeographicLib/)
+
+include_directories(
+        ${catkin_INCLUDE_DIRS}
+        ${CERES_INCLUDE_DIRS}
+        ./Thirdparty/GeographicLib/include/
+)
+
+catkin_package()
+
+add_executable(global_fusion_node
+        src/globalOptNode.cpp
+        src/globalOpt.cpp
+#        src/KITTIGPSTest.cpp
+)
+
+
+target_link_libraries(global_fusion_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} libGeographiccc)