From 61e0484985f4a1c91ec015a68cbbf7bce593d9b5 Mon Sep 17 00:00:00 2001
From: Erik Nelson <eanelson@eecs.berkeley.edu>
Date: Mon, 2 May 2016 13:05:43 -0700
Subject: [PATCH] Updating install process.

---
 README.md                         | 7 +++++++
 external/blam-external.rosinstall | 4 ----
 update                            | 6 ++++--
 3 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/README.md b/README.md
index 5f69283..8fdbe05 100644
--- a/README.md
+++ b/README.md
@@ -33,3 +33,10 @@ roslaunch blam_example test_offline.launch
 
 An example .rviz configuration file is provided under
 `blam_example/rviz/lidar_slam.rviz`.
+
+## Dependencies
+
+***BLAM!*** relies on system installations of the following packages:
+
+* [ROS](http://wiki.ros.org/ROS/Installation)
+* [GTSAM](https://collab.cc.gatech.edu/borg/gtsam)
diff --git a/external/blam-external.rosinstall b/external/blam-external.rosinstall
index 800a6e4..e69de29 100644
--- a/external/blam-external.rosinstall
+++ b/external/blam-external.rosinstall
@@ -1,4 +0,0 @@
-- git:
-    local-name: gtsam_ros
-    uri: https://github.com/erik-nelson/gtsam_ros.git
-    version: master
diff --git a/update b/update
index 6c9d838..dc22391 100755
--- a/update
+++ b/update
@@ -11,8 +11,10 @@ fi
 wstool merge -t src blam-external.rosinstall
 wstool up -t src
 catkin_make_isolated --install --cmake-args -DCMAKE_BUILD_TYPE=Release
-touch ${TOP_DIR}/external/install_isolated/.catkin
-source ${TOP_DIR}/external/install_isolated/setup.bash
+if [ ! -d "./install_isolated" ]; then
+  touch ./install_isolated/.catkin
+  source ./install_isolated/setup.bash
+fi
 
 # Compile BLAM packages.
 cd ${TOP_DIR}/internal