@@ -16,7 +16,7 @@ The basic Wolf structure is a tree of base classes reproducing the elements of t
Wolf can be used within ROS for an easy integration. We provide examples of ROS nodes using Wolf. Wolf can also be used in other robotics frameworks.
### Features
#### Features
- Keyframe based
- Multi-sensor
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@@ -26,7 +26,7 @@ Wolf can be used within ROS for an easy integration. We provide examples of ROS
- Built with polymorphic classes using virtual inheritance and templates.
- Solver agnostic: choose your solver and build your wrapper to Wolf.
### Some preliminary documentation
#### Some preliminary documentation
- You can visit this [Wolf inspiring document](https://docs.google.com/document/d/1_kBtvCIo33pdP59M3Ib4iEBleDDLcN6yCbmwJDBLtcA). Contact [Joan](mailto:jsola@iri.upc.edu) if you need permissions for the link.
- You can also have a look at the [Wolf tree](https://docs.google.com/drawings/d/1jj5VVjQThddswpTPMLG2xv87vtT3o1jiMJo3Mk1Utjg), showing the organization of the main elements in the Wolf project. Contact [Andreu](mailto:acorominas@iri.upc.edu) if you need permissions for the link.
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@@ -37,250 +37,301 @@ Dependencies
! Please notice that we are detailing two installation procedures below. If you are familiar with `ROS` and more especially the [`catkin_tools`](https://catkin-tools.readthedocs.io/en/latest/index.html) package then you may jump directly to the 'Using the `catkin_tools` package' section.
### Eigen
#### Eigen
[Eigen](http://eigen.tuxfamily.org). Linear algebra, header library. Eigen 3.2 is also a depencency of ROS-Hydro. In case you don't have ROS in your machine, you can install Eigen by typing:
[Eigen](http://eigen.tuxfamily.org). Linear algebra, header library. Eigen 3.2 is also a depencency of ROS-Hydro. In case you don't have ROS in your machine, you can install Eigen by typing:
$ sudo apt-get install libeigen3-dev
```terminal
$ sudo apt-get install libeigen3-dev
```
### Ceres (5 steps)
#### Ceres (5 steps)
[Ceres](http://www.ceres-solver.org/) is an optimization library. Currently, this dependency is optional, so the build procedure of Wolf skips part of compilation in case this dependency is not found on the system. **Installation** is desctibed at [Ceres site](http://www.ceres-solver.org/building.html). However we report here an alternative step by step procedure to install Ceres.
**(1)** Skip this step if Cmake 2.8.0+ and Eigen3.0+ are already installed. Otherwise install them with *apt-get*.
**(1)** Skip this step if Cmake 2.8.0+ and Eigen3.0+ are already installed. Otherwise install them with *apt-get*.
$ sudo make install //optional in case you want to install wolf library
**Set the WOLF_ROOT environment variable**
We need a platform-independent way to specify where is the WOLF project, so that code can locate relevant files at run-time.
For example, if we want to use YAML files for configuring sensors, `YAML::LoadFile(filename)` needs an absolute path to a `filename`. This name is platform-specific, and many times user-specific.
Usually, these files are out of the WOLF project. But for testing purposes, some of these files exist within the WOLF directories.
Proceed as follows:
1. To run from __Terminal__ (the default), you need to create an environment variable WOLF_ROOT pointing to where the wolf project is.
- Edit file `~/.bashrc`, or `~/.bash_profile`, and add these lines:
```
export WOLF_ROOT="/abs/path/to/wolf"
```
* Then you need to source the file to get effect,
```
source ~/.bash_profile // or ~/.bashrc, of course
```
2. If you are using Eclipse or other __GUIs__ and you want this environment variable to be accessed by them, edit the file `/etc/environment` (you need to use `sudo`) and add this line:
```
WOLF_ROOT="/abs/path/to/wolf"
```
Then reboot your machine.
Alternatively, you can set up the environment variables in your GUIs only. Follow these guidelines:
- If you run your application from __eclipse__, do:
- Menu Run > Run configurations...
- Add, or edit, a run configuration for the executable you want to run
- Click on tab 'Environment'
- Add a variable named `WOLF_ROOT`, with value `/abs/path/to/wolf`
- If you run from __QtCreator__
- Click on Left bar > Projects > Tab 'Build'
- Under 'Build Environment', click 'Details'
- Add variable `WOLF_ROOT` with value `/abs/path/to/wolf`
- Click on Tab 'Run'
- Select your Run configuration
- Under 'Run Environment', make sure it says 'Use Build Environment'
- If not, click on 'Details'
```
**Set the WOLF_ROOT environment variable**
We need a platform-independent way to specify where is the WOLF project, so that code can locate relevant files at run-time.
For example, if we want to use YAML files for configuring sensors, `YAML::LoadFile(filename)` needs an absolute path to a `filename`. This name is platform-specific, and many times user-specific.
Usually, these files are out of the WOLF project. But for testing purposes, some of these files exist within the WOLF directories.
Proceed as follows:
1. To run from __Terminal__ (the default), you need to create an environment variable WOLF_ROOT pointing to where the wolf project is.
Edit file `~/.bashrc`, or `~/.bash_profile`, and add these lines:
```
export WOLF_ROOT="/abs/path/to/wolf"
```
Then you need to source the file to get effect,
```
source ~/.bash_profile // or ~/.bashrc, of course
```
2. If you are using Eclipse or other __GUIs__ and you want this environment variable to be accessed by them, edit the file `/etc/environment` (you need to use `sudo`) and add this line:
```
WOLF_ROOT="/abs/path/to/wolf"
```
Then reboot your machine.
Alternatively, you can set up the environment variables in your GUIs only. Follow these guidelines:
- If you run your application from __eclipse__, do:
- Menu Run > Run configurations...
- Add, or edit, a run configuration for the executable you want to run
- Click on tab 'Environment'
- Add a variable named `WOLF_ROOT`, with value `/abs/path/to/wolf`
- If you run from __QtCreator__
- Click on Left bar > Projects > Tab 'Build'
- Under 'Build Environment', click 'Details'
- Add variable `WOLF_ROOT` with value `/abs/path/to/wolf`
- Click on Tab 'Run'
- Select your Run configuration
- Under 'Run Environment', make sure it says 'Use Build Environment'
- If not, click on 'Details'
- Under 'Base environment for this run configuration', select 'Build Environment'
