GTSAM: Georgia Tech Smoothing and Mapping Library

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
jazzy

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
eidos
eidos_tools
eidos_transform

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
kilted

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
lyrical

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_libvision

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
rolling

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_libvision

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
dashing

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
foxy

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
iron

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

gtsam package from gtsam repo

gtsam

ROS Distro
humble

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap
gtsam2mrpt_serial
mola_sm_loop_closure
mola_georeferencing
mola_gtsam_factors
mola_state_estimation_smoother
mola_mapper_2d

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
kinetic

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
melodic

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange

gtsam package from gtsam repo

gtsam

ROS Distro
noetic

Package Summary

Version	4.3.0
License	BSD-3-Clause
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/borglab/gtsam.git
VCS Type	git
VCS Version	develop
Last Updated	2026-09-21
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

gtsam

Maintainers

Frank Dellaert
Fan Jiang
José Luis Blanco-Claraco

Authors

No additional authors.

GTSAM: Georgia Tech Smoothing and Mapping Library

Development branch

The develop branch contains changes intended for the next GTSAM release and may include API changes. For production use, choose the latest stable version from the GTSAM releases. Current development builds require C++17; Boost support is optional and controlled by CMake options.

What is GTSAM?

GTSAM is a C++ library that implements smoothing and mapping (SAM) in robotics and vision, using Factor Graphs and Bayes Networks as the underlying computing paradigm rather than sparse matrices.

| CI Status | Platform | Compiler | |:———-|:———|:———| | | Ubuntu 22.04, macOS 15, Windows 2022 | GCC/Clang/MSVC | | | Latest Windows/Ubuntu/Mac | - | | | See pypi files; no Windows| - |

On top of the C++ library, GTSAM includes wrappers for MATLAB & Python.

Documentation

C++ API Docs: https://gtsam.org/doxygen/
Python API Docs: https://borglab.github.io/gtsam/
CUDA linear solvers: doc/CUDA_LINEAR_SOLVERS.md

Quickstart

In the root library folder execute:

cmake -S . -B build
cmake --build build --target check  # optional, runs all unit tests
cmake --build build --target install

Prerequisites:

CMake 3.16 or newer
A compiler with C++17 support. The continuously tested toolchains are:
- Linux: GCC 11, 13, 14, or 15 and Clang 11, 14, or 16
- macOS: Xcode 16
- Windows: MSVC toolset 14.40

Older C++17-capable toolchains may work but are not continuously tested.

Optional Boost prerequisite:

Boost is optional. Two CMake flags govern its use:

GTSAM_USE_BOOST_FEATURES=ON|OFF controls the remaining Boost-dependent features.
GTSAM_ENABLE_BOOST_SERIALIZATION=ON|OFF controls Boost serialization of factor graphs, factors, and related types.

Both options default to ON for ordinary CMake builds and OFF inside ROS 2 colcon builds. If either option is ON, install Boost 1.70 or newer:

macOS: brew install boost
Ubuntu: sudo apt-get install libboost-all-dev
Windows: use vcpkg, or see cmake/HandleBoost.cmake for manual-installation hints.

Optional prerequisites:

oneTBB is searched for when GTSAM_WITH_TBB=ON, which is the default. On Ubuntu, install libtbb-dev.
Intel oneMKL is used only when GTSAM_WITH_EIGEN_MKL=ON. See INSTALL.md for setup instructions, and benchmark your workload with and without MKL.

GTSAM 4 Compatibility

File truncated at 100 lines see the full file

CHANGELOG

No CHANGELOG found.

Package Dependencies

No dependencies on ROS packages.

System Dependencies

Name
cmake
eigen
tbb

Dependant Packages

Name	Deps
rtabmap

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `gtsam` at Robotics Stack Exchange