sudo apt-get install libsdl1.2-dev -y sudo apt install libsdl-image1.2-dev -y sudo apt-get install ros-noetic-tf2* sudo apt install ros-noetic-move-base-msgs sudo apt install ros-noetic-geographic-msgs sudo apt install ros-noetic-sbpl sudo apt install ros-noetic-costmap-converter sudo apt-get install libsuitesparse-dev sudo apt-get install ros-noetic-libg2o

sudo apt-get install ros-noetic-geographic-* sudo apt-get install geographiclib-* sudo apt-get install libgeographic-* sudo ln -s /usr/share/cmake/geographiclib/FindGeographicLib.cmake /usr/share/cmake-3.10/Modules/

gtsam sudo add-apt-repository ppa:borglab/gtsam-release-4.0 sudo apt update
sudo apt install libgtsam-dev libgtsam-unstable-dev