From 464099aa6d3b499f5382b51523cfb3cef10b6831 Mon Sep 17 00:00:00 2001
From: Sergi Pujol <sergi.pujol.badell@estudiantat.upc.edu>
Date: Tue, 2 Feb 2021 10:02:53 +0100
Subject: [PATCH] README updated with falkolib compilation as submodule

---
 README.md | 42 +++++++++++++++++++++++++++++++++++++++++-
 1 file changed, 41 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 0e8f786..d929a07 100644
--- a/README.md
+++ b/README.md
@@ -39,4 +39,44 @@ sudo make install
 CSM depends on GSL that you probably have installed already. To install it: 
 ```
 sudo apt install libgsl-dev
-```
\ No newline at end of file
+```
+
+**FALKO Library - falkolib**
+
+To enbale scan matching for loop closure purposes. The library is added as submodule in the deps folder. In order to initialize the submodule use the following commands:
+```
+cd <your/path>
+git submodule init
+git submodule update
+```
+In order to compile and install the repository:
+```
+cd <your/path>
+cd deps/openslam_falkolib/
+mkdir build
+cd build
+cmake ..
+make
+```
+
+You can also install the library into a system directory. 
+To change the install directory you must set cmake environment
+variable ${CMAKE_INSTALL_PREFIX} (e.g. using command "ccmake .."
+before calling "cmake .."). 
+Its default value on UNIX-like/Linux systems is "/usr/local".
+After compiling library falkolib, run the command:
+```
+sudo make install
+```
+The command "sudo" is required only if ${CMAKE_INSTALL_PREFIX} 
+is a system diretory managed by administrator user root.
+Such command copies:
+- header files of ${falkolib_ROOT}/include/falkolib to
+   ${CMAKE_INSTALL_PREFIX}/include/falkolib/
+- library files ${falkolib_ROOT}/lib/libfalkolib.a to
+   ${CMAKE_INSTALL_PREFIX}/lib/
+- cmake script ${falkolib_ROOT}/cmake_modules/falkolibConfig.cmake to
+   ${CMAKE_INSTALL_PREFIX}/share/falkolib/
+
+
+
-- 
GitLab