# Can't install ros-melodic-tf2-geometry-msgs with voxl-suite 1.0.0

Source: https://forum.modalai.com/topic/2407/can-t-install-ros-melodic-tf2-geometry-msgs-with-voxl-suite-1-0-0
Category: VOXL SDK and Software (https://forum.modalai.com/category/47/voxl-sdk-and-software)
Tags: ros
Posted: 2023-07-13 12:20:11 UTC by Tjark
Replies: 1 · Views: 1211

## Tjark · 2023-07-13 12:20:11 UTC

I'm installing the new SDK 1.0.0 which has voxl-suite 1.0.0. When trying to install `ros-melodic-tf2-geometry-msgs` I get the following error:
```
voxl2:~$ apt install -y ros-melodic-tf2-geometry-msgs
Reading package lists... Done
Building dependency tree       
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
 ros-melodic-tf2-geometry-msgs : Depends: ros-melodic-orocos-kdl but it is not going to be installed
                                 Depends: ros-melodic-python-orocos-kdl but it is not going to be installed
E: Unable to correct problems, you have held broken packages.
```

I dove into it a little bit more and the issue is that `ros-melodic-tf2-geometry-msgs` depends on `ros-melodic-orocos-kdl` which in turn depends on `libeigen3-dev`.

But `voxl-suite` now depends on `voxl-feature-tracker` which depends on `voxl-eigen3` and `voxl-eigen3` conflicts with `libeigen3-dev`:

```
voxl2:~$ apt show voxl-eigen3
Package: voxl-eigen3
Version: 3.4.0
Priority: optional
Section: base
Maintainer: matt.turi@modalai.com
Installed-Size: unknown
Conflicts: libeigen3-dev
Replaces: libeigen3-dev, lib32-libeigen
Download-Size: 1014 kB
APT-Manual-Installed: yes
APT-Sources: file:/data/voxl-suite-offline-packages ./ Packages
Description: Eigen3 Library packaged up for APQ
```
What is the recommended way to get `ros-melodic-tf2-geometry-msgs` installed? In our case we don't need `voxl-feature-tracker`. Is there a way to combine it with `voxl-eigen3`? Or should we just not use `voxl-suite`?

## Reply by Tjark · 2023-07-18 15:19:04 UTC

@ModalAI could you answer this question?