From b5d2a87188c042239a0b4687999e89b9600ff5e4 Mon Sep 17 00:00:00 2001
From: Nicolas Limpert <limpert@fh-aachen.de>
Date: Feb 25 2020 12:51:29 +0000
Subject: Update to version from 2018.03.31 (non-release)


rosdep definitions describe libg2o-release to have its latest version
taken upstream on the 2018.03.25 (https://github.com/ros-gbp/libg2o-release/releases).
Hence take a version matching a similar date and modify the patch to
adhere to upstream's c681c25.

---

diff --git a/g2o.libsuffix.patch b/g2o.libsuffix.patch
index 8849bb2..4a2b079 100644
--- a/g2o.libsuffix.patch
+++ b/g2o.libsuffix.patch
@@ -18,11 +18,11 @@ index 4645ecb..2dbd7ea 100644
 @@ -66,8 +66,8 @@ ENDIF()
  
  INSTALL(TARGETS csparse
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -33,11 +33,11 @@ index ae66493..e84e03b 100644
 @@ -10,8 +10,8 @@ SET_TARGET_PROPERTIES(freeglut_minimal PROPERTIES OUTPUT_NAME ${LIB_PREFIX}ext_f
  
  INSTALL(TARGETS freeglut_minimal
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -48,11 +48,11 @@ index 018731d..d3de5db 100644
 @@ -31,8 +31,8 @@ SET_TARGET_PROPERTIES(g2o_cli_application PROPERTIES OUTPUT_NAME g2o${EXE_POSTFI
  
  INSTALL(TARGETS g2o_cli_library g2o_cli_application
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -63,11 +63,11 @@ index a465542..103e6e1 100644
 @@ -29,8 +29,8 @@ SET_TARGET_PROPERTIES(g2o_hierarchical_application PROPERTIES OUTPUT_NAME g2o_hi
  
  # INSTALL(TARGETS g2o_hierarchical_library g2o_cli_application
- #   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--#   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--#   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+#   LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+#   ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+ #   RUNTIME DESTINATION bin
+-#   LIBRARY DESTINATION lib
+-#   ARCHIVE DESTINATION lib
++#   LIBRARY DESTINATION lib${LIB_SUFFIX}
++#   ARCHIVE DESTINATION lib${LIB_SUFFIX}
  # )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -78,11 +78,11 @@ index 8c90a1b..3d13ffe 100644
 @@ -55,8 +55,8 @@ SET_TARGET_PROPERTIES(g2o_anonymize_observations_application PROPERTIES OUTPUT_N
  
  INSTALL(TARGETS g2o_simulator_library g2o_simulator2d_application g2o_simulator3d_application g2o_anonymize_observations_application
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -93,11 +93,11 @@ index 8499b93..eb21fd6 100644
 @@ -49,8 +49,8 @@ TARGET_LINK_LIBRARIES(g2o_viewer viewer_library)
  
  INSTALL(TARGETS g2o_viewer viewer_library
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -108,22 +108,22 @@ index e6127ce..472f9fa 100644
 @@ -17,8 +17,8 @@ TARGET_LINK_LIBRARIES(g2o_cli_application_linked types_slam2d types_slam3d types
  
  INSTALL(TARGETS g2o_cli_application_linked
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  
 @@ -43,8 +43,8 @@ IF(QT4_FOUND AND QGLVIEWER_FOUND)
  
    INSTALL(TARGETS g2o_viewer_linked
-     RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+     RUNTIME DESTINATION bin
+-    LIBRARY DESTINATION lib
+-    ARCHIVE DESTINATION lib
++    LIBRARY DESTINATION lib${LIB_SUFFIX}
++    ARCHIVE DESTINATION lib${LIB_SUFFIX}
    )
  ENDIF()
  
@@ -134,11 +134,11 @@ index 9ca4095..7348921 100644
 @@ -43,8 +43,8 @@ TARGET_LINK_LIBRARIES(core stuff)
  
  INSTALL(TARGETS core
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -149,11 +149,11 @@ index 3c29634..e1a2ab8 100644
 @@ -14,8 +14,8 @@ SET_TARGET_PROPERTIES(g2o_incremental_application PROPERTIES OUTPUT_NAME g2o_inc
  
  INSTALL(TARGETS g2o_incremental_library g2o_incremental_application
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -164,11 +164,11 @@ index ba36b7f..fcad867 100644
 @@ -20,8 +20,8 @@ SET_TARGET_PROPERTIES(g2o_online_application PROPERTIES OUTPUT_NAME g2o_online${
  
  INSTALL(TARGETS g2o_interactive_library g2o_online_application
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -179,11 +179,11 @@ index bac6288..d7f64f2 100644
 @@ -13,8 +13,8 @@ SET_TARGET_PROPERTIES(test_slam_interface PROPERTIES OUTPUT_NAME test_slam_inter
  
  #INSTALL(TARGETS example_library
-   #RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  #LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  #ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  #LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  #ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   #RUNTIME DESTINATION bin
+-  #LIBRARY DESTINATION lib
+-  #ARCHIVE DESTINATION lib
++  #LIBRARY DESTINATION lib${LIB_SUFFIX}
++  #ARCHIVE DESTINATION lib${LIB_SUFFIX}
  #)
  
  #FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
@@ -194,11 +194,11 @@ index 3b7672e..78703bc 100644
 @@ -23,8 +23,8 @@ TARGET_LINK_LIBRARIES(interface_library parser_library)
  
  INSTALL(TARGETS interface_library
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
@@ -209,11 +209,11 @@ index d6ef107..4a5abb2 100644
 @@ -29,8 +29,8 @@ SET_TARGET_PROPERTIES(parser_library PROPERTIES OUTPUT_NAME ${LIB_PREFIX}parser)
  
  INSTALL(TARGETS parser_library
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hh")
@@ -224,11 +224,11 @@ index 977e945..54511e2 100644
 @@ -12,8 +12,8 @@ TARGET_LINK_LIBRARIES(solver_cholmod ${CHOLMOD_LIBRARIES} ${BLAS_LIBRARIES} ${LA
  
  INSTALL(TARGETS solver_cholmod
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -239,14 +239,14 @@ index 20728d1..8cc6540 100644
 @@ -25,8 +25,8 @@ TARGET_LINK_LIBRARIES(solver_csparse csparse_extension core)
  
  INSTALL(TARGETS solver_csparse csparse_extension
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
- INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/csparse)
+ INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/csparse)
 diff --git a/g2o/solvers/dense/CMakeLists.txt b/g2o/solvers/dense/CMakeLists.txt
 index 5d41966..c0424ab 100644
 --- a/g2o/solvers/dense/CMakeLists.txt
@@ -254,11 +254,11 @@ index 5d41966..c0424ab 100644
 @@ -8,8 +8,8 @@ TARGET_LINK_LIBRARIES(solver_dense core)
  
  INSTALL(TARGETS solver_dense
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -269,14 +269,14 @@ index be66cfd..db010d4 100644
 @@ -9,8 +9,8 @@ TARGET_LINK_LIBRARIES(solver_eigen core)
  
  INSTALL(TARGETS solver_eigen
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
- INSTALL(FILES ${headers} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/g2o/solvers/eigen)
+ INSTALL(FILES ${headers} DESTINATION include/g2o/solvers/eigen)
 diff --git a/g2o/solvers/pcg/CMakeLists.txt b/g2o/solvers/pcg/CMakeLists.txt
 index b29b333..77b2409 100644
 --- a/g2o/solvers/pcg/CMakeLists.txt
@@ -284,11 +284,11 @@ index b29b333..77b2409 100644
 @@ -10,8 +10,8 @@ TARGET_LINK_LIBRARIES(solver_pcg core)
  
  INSTALL(TARGETS solver_pcg
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -299,11 +299,11 @@ index 6d473e5..994dbbf 100644
 @@ -11,8 +11,8 @@ TARGET_LINK_LIBRARIES(solver_slam2d_linear solver_csparse types_slam2d)
  
  INSTALL(TARGETS solver_slam2d_linear
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -314,11 +314,11 @@ index 9f7b330..67bd9a7 100644
 @@ -8,8 +8,8 @@ TARGET_LINK_LIBRARIES(solver_structure_only core)
  
  INSTALL(TARGETS solver_structure_only
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -329,22 +329,22 @@ index 7f4dbcc..7acbc53 100644
 @@ -14,8 +14,8 @@ SET_TARGET_PROPERTIES(stuff PROPERTIES OUTPUT_NAME ${LIB_PREFIX}stuff)
  
  INSTALL(TARGETS stuff
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  # build our OpenGL helper library
 @@ -25,8 +25,8 @@ IF(OPENGL_FOUND AND G2O_HAVE_OPENGL)
    )
    INSTALL(TARGETS opengl_helper
-     RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+    LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+    ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+     RUNTIME DESTINATION bin
+-    LIBRARY DESTINATION lib
+-    ARCHIVE DESTINATION lib
++    LIBRARY DESTINATION lib${LIB_SUFFIX}
++    ARCHIVE DESTINATION lib${LIB_SUFFIX}
    )
    TARGET_LINK_LIBRARIES(opengl_helper ${OPENGL_LIBRARIES})
    SET_TARGET_PROPERTIES(opengl_helper PROPERTIES OUTPUT_NAME ${LIB_PREFIX}opengl_helper)
@@ -355,11 +355,11 @@ index 7c930dc..930be34 100644
 @@ -19,8 +19,8 @@ ENDIF()
  
  INSTALL(TARGETS types_data
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -370,11 +370,11 @@ index a4e3b82..e9f0e04 100644
 @@ -31,8 +31,8 @@ TARGET_LINK_LIBRARIES(deprecated_types_slam3d ${OPENGL_gl_LIBRARY} core types_sl
  
  INSTALL(TARGETS deprecated_types_slam3d
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -385,11 +385,11 @@ index c8d6bfd..ed8407e 100644
 @@ -9,8 +9,8 @@ TARGET_LINK_LIBRARIES(types_icp types_sba types_slam3d)
  
  INSTALL(TARGETS types_icp
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -400,11 +400,11 @@ index 1af8fc5..1e64ea3 100644
 @@ -10,8 +10,8 @@ TARGET_LINK_LIBRARIES(types_sba core types_slam3d)
  
  INSTALL(TARGETS types_sba
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -415,11 +415,11 @@ index 311f396..e04df70 100644
 @@ -16,8 +16,8 @@ ENDIF()
  
  INSTALL(TARGETS types_sclam2d
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -430,11 +430,11 @@ index c493599..adf6286 100644
 @@ -9,8 +9,8 @@ TARGET_LINK_LIBRARIES(types_sim3 types_sba)
  
  INSTALL(TARGETS types_sim3
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -445,11 +445,11 @@ index a8a435b..7aa5fbc 100644
 @@ -25,8 +25,8 @@ ENDIF()
  
  INSTALL(TARGETS types_slam2d
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -460,11 +460,11 @@ index bfeb6f5..91b08af 100644
 @@ -21,8 +21,8 @@ ENDIF()
  
  INSTALL(TARGETS types_slam2d_addons
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -475,11 +475,11 @@ index 8b1eafb..b76a5bf 100644
 @@ -53,8 +53,8 @@ TARGET_LINK_LIBRARIES(test_slam3d_jacobian types_slam3d)
  
  INSTALL(TARGETS types_slam3d
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
@@ -490,11 +490,11 @@ index 10b6eb1..117a570 100644
 @@ -30,8 +30,8 @@ TARGET_LINK_LIBRARIES(test_line3d types_slam3d_addons types_slam3d)
  
  INSTALL(TARGETS types_slam3d_addons
-   RUNTIME DESTINATION ${CMAKE_INSTALL_PREFIX}/bin
--  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
--  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib
-+  LIBRARY DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
-+  ARCHIVE DESTINATION ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
+   RUNTIME DESTINATION bin
+-  LIBRARY DESTINATION lib
+-  ARCHIVE DESTINATION lib
++  LIBRARY DESTINATION lib${LIB_SUFFIX}
++  ARCHIVE DESTINATION lib${LIB_SUFFIX}
  )
  
  FILE(GLOB headers "${CMAKE_CURRENT_SOURCE_DIR}/*.h" "${CMAKE_CURRENT_SOURCE_DIR}/*.hpp")
diff --git a/g2o.spec b/g2o.spec
index f50b7e6..fafc4f4 100644
--- a/g2o.spec
+++ b/g2o.spec
@@ -1,7 +1,8 @@
-%global version_major 2017
-%global version_minor 07
-%global version_patch 30
-%global gittag %{version_major}%{version_minor}%{version_patch}_git
+%global version_major 2018
+%global version_minor 03
+%global version_patch 31
+%global githash 4841bb0c672dc103324174725c156dc7a89476fb
+
 Name:           g2o
 Version:        %{version_major}.%{version_minor}.%{version_patch}
 Release:        2%{?dist}
@@ -9,11 +10,11 @@ Summary:        A General Framework for Graph Optimization
 
 License:        BSD
 URL:            https://github.com/RainerKuemmerle/g2o
-Source0:        https://github.com/RainerKuemmerle/g2o/archive/%{gittag}/%{name}-%{version}.tar.gz
+Source0:        https://github.com/RainerKuemmerle/g2o/archive/%{githash}.tar.gz
 Patch0:         g2o.libsuffix.patch
 
-Conflicts:      ros-kinetic-libg2o
-Obsoletes:      ros-kinetic-libg2o <= 2016.4.24-1
+Conflicts:      ros-libg2o
+Obsoletes:      ros-libg2o <= 2017.07.30-1
 
 BuildRequires:  boost-devel
 BuildRequires:  cmake
@@ -29,7 +30,7 @@ BuildRequires:  suitesparse-devel
 The libg2o library from http://openslam.org/g2o.html
 
 %prep
-%autosetup -p1 -n %{name}-%{gittag}
+%autosetup -p1 -n %{name}-%{githash}
 
 %build
 mkdir -p obj-%{_target_platform} && cd obj-%{_target_platform}
@@ -49,6 +50,10 @@ pushd obj-%{_target_platform}
 %{_includedir}/*
 
 %changelog
+* Mon Feb 24 2020 Nicolas Limpert <limpert@fh-aachen.de> - 2018.03.31-1
+- Update to version as provided by rosdistro
+- Fix g2o.libsuffix.patch to patch accordingly
+
 * Wed Oct 09 2019 Till Hofmann <hofmann@kbsg.rwth-aachen.de> - 2017.07.30-2
 - Remove unnecessary Requires