Install gcc 6 on Ubuntu 18.04 for using amcl with GPU. Works with ROS Melodic

install_gcc_6_amcl_gpu

sudo apt-get update && \
sudo apt-get install build-essential software-properties-common -y && \
sudo add-apt-repository ppa:ubuntu-toolchain-r/test -y && \
sudo apt-get update && \
sudo apt-get install gcc-6 g++-6 -y && \
sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-6 60 --slave /usr/bin/g++ g++ /usr/bin/g++-6 && \
gcc -v && \
sudo apt-get install nvidia-cuda-toolkit && \
mkdir -p ~/catkin_ws/src && \
cd ~/catkin_ws/src && \
git clone https://github.com/atinfinity/amcl.git && \
cd ~/catkin_ws && \
catkin_make && \
source devel/setup.zsh