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I had a similar problem in groovy and hydro. After comparing fuerte-libg2o with groovy-libg2o, I found out that in /opt/ros/groovy/share/libg2o the folder cmake is missing. I copied the cmake folder from my fuerte distro and it worked. You can get the relevant files here:

https:// www.dropbox.com/s/l0q4oc7yuk00t92/if_g2o_is_missed.zip

In addition, my compiler had problems finding the cs.h. Therefore I used the FindSuiteSparse.cmake script (It is included in if_g2o_is_missed.zip).

Inside CMakeLists.txt I handled libg2o like a common catkin-package and added this:

find_package(SuiteSparse)
if(CSPARSE_FOUND)
  message(STATUS "CSPARSE_IS_FOUND")
else(CSPARSE_FOUND)
  message(STATUS "CSPARSE_NOTFOUND")
endif(CSPARSE_FOUND)

FIND_PACKAGE(libg2o REQUIRED)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${CSPARSE_INCLUDE_DIR}
  ${CHOLMOD_INCLUDE_DIR}
  ${libg2o_INCLUDE_DIRS}
)

 target_link_libraries(node
   ${catkin_LIBRARIES}
   ${CHOLMOD_LIBRARIES}
   ${CSPARSE_LIBRARIES}
    /usr/lib/libcxsparse.so # not included in findSUITESPARSE cmake macro
   ${libg2o_LIBRARIES}
 )

Maybe a better solution would be to create a FindG2O.cmake Hope this helps.

I had a similar problem in groovy and hydro. After comparing fuerte-libg2o with groovy-libg2o, I found out that in /opt/ros/groovy/share/libg2o the folder cmake is missing. I copied the cmake folder from my fuerte distro and it worked. You can get the relevant files here:

https:// www.dropbox.com/s/l0q4oc7yuk00t92/if_g2o_is_missed.zip

In addition, my compiler had problems finding the cs.h. Therefore I used the FindSuiteSparse.cmake script (It is included in if_g2o_is_missed.zip).

Inside CMakeLists.txt I handled libg2o like a common catkin-package and added this:

find_package(SuiteSparse)
if(CSPARSE_FOUND)
  message(STATUS "CSPARSE_IS_FOUND")
else(CSPARSE_FOUND)
  message(STATUS "CSPARSE_NOTFOUND")
endif(CSPARSE_FOUND)

FIND_PACKAGE(libg2o REQUIRED)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${CSPARSE_INCLUDE_DIR}
  ${CHOLMOD_INCLUDE_DIR}
  ${libg2o_INCLUDE_DIRS}
)

 target_link_libraries(node
   ${catkin_LIBRARIES}
   ${CHOLMOD_LIBRARIES}
   ${CSPARSE_LIBRARIES}
    /usr/lib/libcxsparse.so # not included in findSUITESPARSE cmake macro
   ${libg2o_LIBRARIES}
 )

Maybe a better solution would be to create a FindG2O.cmake Hope this helps.