Code cleanup

CMakeLists.txt

@@ -22,6 +22,7 @@ target_link_libraries(create
 
 ## Declare example executables
 add_executable(create_demo examples/create_demo.cpp)
+add_executable(odom_test examples/odom_test.cpp)
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(create_demo
@@ -29,6 +30,11 @@ target_link_libraries(create_demo
   create
 )
 
+target_link_libraries(odom_test
+  ${Boost_LIBRARIES}
+  create
+)
+
 ## Install
 ## I'm not familiar with install rules, do these make sense?
 install(TARGETS create DESTINATION lib)