graph optimization in ROS using GTSAM
clone gtsam from github https://github.com/borglab/gtsam
$ mkdir build
$ cd build
$ cmake ..
$ make check (optional, runs unit tests)
$ make install
change the parameter below in CmakeLists to where gtsam is built
"set(GTSAM_DIR "/home/iman/gtsam/build")"