Remove (not needed) sophus depend

Author: Enrique Fernandez

diff_drive_controller/CMakeLists.txt

@@ -22,8 +22,6 @@ find_package(Boost REQUIRED
 
 find_package(Eigen REQUIRED)
 
-find_package(sophus REQUIRED)
-
 find_package(Ceres REQUIRED)
 
 add_message_files(

diff_drive_controller/include/diff_drive_controller/integrate_function.h

@@ -56,7 +56,6 @@ namespace diff_drive_controller
 
       /**
        * \brief Constructor
-       * \param [in] functor Integrate functor
        */
       IntegrateFunction()
       {}

diff_drive_controller/include/diff_drive_controller/odometry.h

@@ -44,7 +44,6 @@
 
 #include <ros/time.h>
 #include <Eigen/Core>
-#include <sophus/se2.hpp>
 #include <boost/accumulators/accumulators.hpp>
 #include <boost/accumulators/statistics/stats.hpp>
 #include <boost/accumulators/statistics/rolling_mean.hpp>
@@ -65,9 +64,6 @@ namespace diff_drive_controller
   class Odometry
   {
   public:
-    /// SO(2) and SE(2) Lie Groups:
-    typedef Sophus::SE2d SE2;
-
     /// Covariance matrices:
     typedef Eigen::Matrix3d Covariance;
 

diff_drive_controller/package.xml

@@ -26,7 +26,6 @@
   <build_depend>tf</build_depend>
   <build_depend>urdf</build_depend>
   <build_depend>eigen</build_depend>
-  <build_depend>sophus</build_depend>
   <build_depend>libceres-dev</build_depend>
   <build_depend>roslint</build_depend>
   <build_depend>boost</build_depend>