From 3270a70572fb5918c2bb3c26d30a154697713db0 Mon Sep 17 00:00:00 2001
From: shubhamg20 <80036536+shubhamg20@users.noreply.github.com>
Date: Thu, 7 Apr 2022 20:40:25 +0530
Subject: [PATCH] resolving undefined reference to g20 libraries

---
 roborts_planning/cmake_module/FindG2O.cmake | 28 +++++++++++++--------
 1 file changed, 18 insertions(+), 10 deletions(-)

diff --git a/roborts_planning/cmake_module/FindG2O.cmake b/roborts_planning/cmake_module/FindG2O.cmake
index b2670d39..7f612c00 100755
--- a/roborts_planning/cmake_module/FindG2O.cmake
+++ b/roborts_planning/cmake_module/FindG2O.cmake
@@ -63,16 +63,24 @@ IF(UNIX)
     PATHS /usr/local /usr ${CMAKE_PREFIX_PATH}
     PATH_SUFFIXES lib)
 
-  SET(G2O_LIBRARIES ${G2O_CSPARSE_EXTENSION_LIB}
-                    ${G2O_CORE_LIB}           
-                    ${G2O_STUFF_LIB}          
-                    ${G2O_TYPES_SLAM2D_LIB}   
-                    ${G2O_TYPES_SLAM3D_LIB}   
-                    ${G2O_SOLVER_CHOLMOD_LIB} 
-                    ${G2O_SOLVER_PCG_LIB}     
-                    ${G2O_SOLVER_CSPARSE_LIB} 
-                    ${G2O_INCREMENTAL_LIB}                        
-                    )
+  SET(G2O_LIBRARIES ${G2O_STUFF_LIBRARY}
+                    ${G2O_CORE_LIBRARY} 
+                    ${G2O_CLI_LIBRARY}
+                    ${G2O_SOLVER_CHOLMOD}
+                    ${G2O_SOLVER_CSPARSE}
+                    ${G2O_SOLVER_CSPARSE_EXTENSION}
+                    ${G2O_SOLVER_DENSE}
+                    ${G2O_SOLVER_PCG}
+                    ${G2O_SOLVER_SLAM2D_LINEAR}
+                    ${G2O_SOLVER_STRUCTURE_ONLY}
+                    ${G2O_SOLVER_EIGEN}
+                    ${G2O_TYPES_DATA}
+                    ${G2O_TYPES_ICP}
+                    ${G2O_TYPES_SBA}
+                    ${G2O_TYPES_SCLAM2D}
+                    ${G2O_TYPES_SIM3}
+                    ${G2O_TYPES_SLAM2D}
+                    ${G2O_TYPES_SLAM3D})
 
   IF(G2O_LIBRARIES AND G2O_INCLUDE_DIR)
     SET(G2O_FOUND "YES")