copied files from old repo

.gitignore

+/.settings/
+/.cproject
+/.project
+/.clangd

.gitlab-ci.yml

+stages:
+  - demo
+
+############ YAML ANCHORS ############
+.preliminaries_template: &preliminaries_definition
+  ## Install ssh-agent if not already installed, it is required by Docker.
+  ## (change apt-get to yum if you use an RPM-based image)
+  - 'which ssh-agent || ( apt-get update -y && apt-get install openssh-client -y )'
+
+  ## Run ssh-agent (inside the build environment)
+  - eval $(ssh-agent -s)
+
+  ## Add the SSH key stored in SSH_PRIVATE_KEY variable to the agent store
+  ## We're using tr to fix line endings which makes ed25519 keys work
+  ## without extra base64 encoding.
+  ## https://gitlab.com/gitlab-examples/ssh-private-key/issues/1#note_48526556
+  - mkdir -p ~/.ssh
+  - chmod 700 ~/.ssh  
+  - echo "$SSH_PRIVATE_KEY" | tr -d '\r' | ssh-add - > /dev/null
+  # - echo "$SSH_KNOWN_HOSTS" > $HOME/.ssh/known_hosts
+  - ssh-keyscan -H -p 2202 gitlab.iri.upc.edu >> $HOME/.ssh/known_hosts
+
+  # update apt
+  - apt-get update
+
+  # create ci_deps folder (if not exists)
+  - mkdir -pv ci_deps
+
+  # manually source ros setup.bash
+  - source /root/catkin_ws/devel/setup.bash
+  - roscd # check that it works
+
+.install_wolf_template: &install_wolf_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d wolf ]; then
+  -   echo "directory wolf exists"
+  -   cd wolf
+  -   git checkout devel
+  -   git pull
+  -   git checkout $WOLF_CORE_BRANCH
+  - else
+  -   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+  -   cd wolf
+  -   git checkout $WOLF_CORE_BRANCH
+  - fi
+  - mkdir -pv build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_DEMOS=OFF -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
+  - make install
+  - ldconfig
+
+.install_laserscanutils_template: &install_laserscanutils_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d laser_scan_utils ]; then
+  -   echo "directory laser_scan_utils exists"
+  -   cd laser_scan_utils
+  -   git pull
+  - else
+  -   git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
+  -   cd laser_scan_utils
+  - fi
+  - mkdir -pv build
+  - cd build
+  - rm -rf *
+  - cmake -DCMAKE_BUILD_TYPE=release ..
+  - make -j$(nproc)
+  - make install
+  - ldconfig
+
+.install_csm_template: &install_csm_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - apt-get install -y libgsl-dev
+  - if [ -d csm ]; then
+  -   echo "directory csm exists"
+  -   cd csm
+  -   git pull
+  - else
+  -   git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/csm.git
+  -   cd csm
+  - fi
+  - cmake .
+  - make -j$(nproc)
+  - make install
+  - ldconfig
+
+.install_falko_template: &install_falko_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d falkolib ]; then
+  -   echo "directory falkolib exists" 
+  -   cd falkolib
+  -   git pull
+  - else
+  -   git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/falkolib.git
+  -   cd falkolib
+  - fi
+  - mkdir -pv build
+  - cd build
+  - cmake ..
+  - make -j$(nproc)
+  - make install
+  - ldconfig
+
+.install_wolflaser_template: &install_wolflaser_definition
+  - cd ${CI_PROJECT_DIR}/ci_deps
+  - if [ -d laser ]; then
+  -   echo "directory laser exists"
+  -   cd laser
+  -   git checkout devel
+  -   git pull
+  -   git checkout $WOLF_LASER_BRANCH
+  - else
+  -   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
+  -   cd laser
+  -   git checkout $WOLF_LASER_BRANCH
+  - fi
+  - mkdir -pv build
+  - cd build
+  - cmake -DCMAKE_BUILD_TYPE=release -DBUILD_TESTS=OFF ..
+  - make -j$(nproc)
+  - make install
+  - ldconfig
+
+.clone_wolfrosnode_template: &clone_wolfrosnode_definition
+  - roscd
+  - cd ../src
+  - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_node.git
+  - cd wolf_ros_node
+  - git checkout $WOLF_ROS_CORE_BRANCH
+
+.clone_wolfroslaser_template: &clone_wolfroslaser_definition
+  - roscd
+  - cd ../src
+  - git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_ros/wolf_ros_laser.git
+  - cd wolf_ros_laser
+  - git checkout $WOLF_ROS_LASER_BRANCH
+
+.demo_template: &demo_definition
+  - roscd
+  - cd ../src
+  - git clone ssh://git@gitlab.iri.upc.edu:2202/${CI_PROJECT_PATH}.git
+  - cd wolf_demo_laser2d
+  - git checkout $CI_COMMIT_BRANCH
+  - cd ../..
+  - catkin_make
+  - roslaunch wolf_demo_laser2d demo_laser2d.launch rviz:=false
+
+############ UBUNTU 16.04 TEST ############
+demo:xenial:
+  stage: demo
+  image: labrobotica/wolf_deps_ros:16.04
+  cache:
+    - key: wolf_and_deps-xenial
+      paths:
+      - ci_deps
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+    - *install_csm_definition
+    #- *install_falko_definition NOT NECESSARY
+    - *install_laserscanutils_definition
+    - *install_wolflaser_definition
+    - *clone_wolfrosnode_definition
+    - *clone_wolfroslaser_definition
+  script:
+    - *demo_definition
+
+############ UBUNTU 18.04 TEST ############
+demo:bionic:
+  stage: demo
+  image: labrobotica/wolf_deps_ros:18.04
+  cache:
+    - key: wolf_and_deps-bionic
+      paths:
+      - ci_deps
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+    - *install_csm_definition
+    #- *install_falko_definition NOT NECESSARY
+    - *install_laserscanutils_definition
+    - *install_wolflaser_definition
+    - *clone_wolfrosnode_definition
+    - *clone_wolfroslaser_definition
+  script:
+    - *demo_definition
+
+############ UBUNTU 20.04 TEST ############
+demo:focal:
+  stage: demo
+  image: labrobotica/wolf_deps_ros:20.04
+  cache:
+    - key: wolf_and_deps-focal
+      paths:
+      - ci_deps
+  except:
+    - master
+  before_script:
+    - *preliminaries_definition
+    - *install_wolf_definition
+    - *install_csm_definition
+    #- *install_falko_definition NOT NECESSARY
+    - *install_laserscanutils_definition
+    - *install_wolflaser_definition
+    - *clone_wolfrosnode_definition
+    - *clone_wolfroslaser_definition
+  script:
+    - *demo_definition

CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(wolf_demo_laser2d)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+#add_compile_options(-std=c++11)
+
+# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+# find_package(Ceres REQUIRED)
+# find_package(Eigen3 REQUIRED)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   sensor_msgs#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+#generate_dynamic_reconfigure_options(
+#  cfg/WolfROS.cfg
+#)
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+#catkin_package(
+#INCLUDE_DIRS include
+#  LIBRARIES wolf_ros1
+#  CATKIN_DEPENDS roscpp sensor_msgs std_msgs
+# DEPENDS system_lib
+#)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+# link_directories(/usr/local/lib/iri-algorithms)
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/wolf_ros.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
+# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
+# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
+#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
+
+## Specify libraries to link a library or executable target against
+#target_link_libraries(${PROJECT_NAME}_visualizer ${wolf_LIBRARIES} ${wolflaser_LIBRARIES})
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

+# wolf_demo_laser2d
+
+Check [WOLF documentation web](http://www.iri.upc.edu/wolf) (section WOLF Demos) for more information.

launch/demo_laser2d.launch

+<!-- -->
+<launch>
+    <arg name="rviz" default="true" /> 
+    <arg name="speed" default="1" />
+    <arg name="sec" default="0" />
+
+    <arg name="profiling" default="false" />
+    <arg name="gdb" default="false" />
+    <arg name="launch_pref" default="" unless="$(eval profiling or gdb)"/>
+    <arg name="launch_pref" value="valgrind --tool=callgrind --callgrind-out-file='callgrind.wolf.%p'" if="$(arg profiling)" />
+    <arg name="launch_pref" value="gdb -ex run --args" if="$(arg gdb)" />
+    
+    <arg name="bag" default="advanced" /> <!-- can be: "basic", "basic_no_odom_tf", "advanced", "advanced_no_odom_tf"-->
+    
+    <param name="use_sim_time" value="true" />
+    
+    <!--WOLF-->
+    <node type="wolf_ros_node"
+		  name="wolf_ros_node"
+    	  pkg="wolf_ros_node"
+          required="true"
+          output="screen"
+    	  launch-prefix="$(arg launch_pref)">
+        <param name="~yaml_file_path" value="$(find wolf_demo_laser2d)/yaml/demo_laser2d.yaml" />
+    </node>
+    
+    <!--VISUALIZATION-->
+    <group if="$(arg rviz)">
+    	<node type="rviz"
+          	  name="rviz"
+          	  pkg="rviz"
+          	  args="-d $(find wolf_demo_laser2d)/rviz/demo_laser2d.rviz"/>
+    </group>
+
+    <!--ROSBAG PLAY-->
+    <node pkg="rosbag" 
+          type="play" 
+          name="player"
+          required="true"
+          args="-r $(arg speed) 
+                -s $(arg sec) 
+                --clock 
+                $(find wolf_demo_laser2d)/bag/$(arg bag).bag"/>
+</launch>

package.xml

+<?xml version="1.0"?>
+<package format="2">
+  <name>wolf_demo_laser2d</name>
+  <version>0.0.0</version>
+  <description>The wolf_rospackage</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="jvallve@iri.upc.edu">jvallve</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/wolf_ros1</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <build_depend>wolf_ros_node</build_depend>
+  <build_depend>wolf_ros_laser</build_depend>
+  <!-- <build_depend>roslib</build_depend> -->
+  <!-- <exec_depend>wolf_ros_laser</exec_depend> -->
+  <!-- <exec_depend>roslib</exec_depend> -->
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

rviz/demo_laser2d.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Frames1
+        - /Factors1
+        - /Factors1/Namespaces1
+        - /Trajectory1/Namespaces1
+      Splitter Ratio: 0.8388888835906982
+    Tree Height: 719
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 100
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: true
+        base_laser_link:
+          Value: true
+        base_link:
+          Value: true
+        map:
+          Value: true
+        odom:
+          Value: true
+      Marker Alpha: 1
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        map:
+          odom:
+            base_footprint:
+              base_laser_link:
+                {}
+              base_link:
+                {}
+      Update Interval: 0
+      Value: true
+    - Angle Tolerance: 0.10000000149011612
+      Class: rviz/Odometry
+      Covariance:
+        Orientation:
+          Alpha: 0.5
+          Color: 255; 255; 127
+          Color Style: Unique
+          Frame: Local
+          Offset: 1
+          Scale: 1
+          Value: true
+        Position:
+          Alpha: 0.30000001192092896
+          Color: 204; 51; 204
+          Scale: 1
+          Value: true
+        Value: false
+      Enabled: true
+      Keep: 100
+      Name: Odometry
+      Position Tolerance: 0.10000000149011612
+      Queue Size: 10
+      Shape:
+        Alpha: 1
+        Axes Length: 1
+        Axes Radius: 0.10000000149011612
+        Color: 255; 25; 0
+        Head Length: 0.30000001192092896
+        Head Radius: 0.10000000149011612
+        Shaft Length: 1