adding script and autolauncher for ci

auto_script_wolf

+#!/usr/bin/expect
+
+set timeout -1
+
+spawn ./script_install_wolf.sh -e
+
+expect "Enter path for dependencies (either /global/path or relative/path):\r"
+
+send -- ".\r"
+
+expect "Enter path for wolf folder (either /global/path or relative/path):\r"
+
+send -- ".\r"
+
+expect "Do you want to download and install plugin imu? (y/n)\r"
+
+send -- "y\r"
+
+expect "Do you want to download and install plugin gnss? (y/n)\r"
+
+send -- "y\r"
+
+expect "Do you want to download and install plugin laser? (y/n)\r"
+
+send -- "y\r"
+
+expect "Do you want to install CSM to enable ICP processors? (y/n)\r"
+
+send -- "y\r"
+
+expect "Do you want to install FALKO to enable Falko loop closure processors? (y/n)\r"
+
+send -- "y\r"
+
+expect "Do you want to download and install plugin vision (requires to install opencv 3.3.0)? (y/n)\r"
+
+send -- "y\r"
+
+expect "Do you want to download and install plugin apriltag? (y/n)\r"
+
+send -- "y\r"
+
+expect "Do you want to download and install plugin bodydynamics? (y/n)\r"
+
+send -- "y\r"
+
+
+
+
+
+
+
+
+
+
+expect eof

install_wolf.sh

+#!/bin/bash
+
+# verbose
+VERBOSE="true"
+while getopts "he" option; do
+   case $option in
+      e) # disable verbose
+         VERBOSE="false"
+         ;;
+   esac
+done
+
+CORES=$(nproc)
+if [ $VERBOSE == "true" ]; then
+   echo "The number of available cores on this machine is $CORES"
+fi
+
+RUN_PATH=$PWD
+
+# UBUNTU
+UBUNTU_DISTRO=$(lsb_release -rs);
+if [ $UBUNTU_DISTRO == "16.04" ]; then
+   if [ $VERBOSE == "true" ]; then
+      echo "Ubuntu 16.04 - OK"
+   fi
+elif [ $UBUNTU_DISTRO == "18.04" ]; then
+   if [ $VERBOSE == "true" ]; then
+      echo "Ubuntu 18.04 - OK"
+   fi
+elif [ $UBUNTU_DISTRO == "20.04" ]; then
+   if [ $VERBOSE == "true" ]; then
+      echo "Ubuntu 20.04 - OK"
+   fi
+else
+   echo "Non-supported Ubuntu version: $UBUNTU_DISTRO"
+   exit 1
+fi
+
+
+# WOLF DEPENDENCIES #####################################################
+if [ $VERBOSE == "true" ]; then
+   echo "You are in folder $PWD"
+fi
+echo "Enter path for dependencies (either /global/path or relative/path):"
+read DEPS_PATH
+cd $DEPS_PATH
+DEPS_PATH=$PWD
+if [ $VERBOSE == "true" ]; then
+   echo "path dependencies: $DEPS_PATH"
+fi
+
+if [ $VERBOSE == "true" ]; then
+   echo "Installing dependencies via apt install..."
+fi
+sudo apt install -y dh-autoreconf cmake build-essential libgoogle-glog-dev libgflags-dev libatlas-base-dev libsuitesparse-dev git libboost-all-dev libyaml-cpp-dev wget unzip
+
+
+# Eigen
+# Ubuntu 16.04 - Eigen 3.3.7 required
+if [ $UBUNTU_DISTRO == "16.04" ]; then
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing Eigen 3.3.7 via source..."
+   fi
+   # todo check if installed, check version, check 
+   wget https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip
+   unzip eigen-3.3.7.zip
+   rm eigen-3.3.7.zip
+   cd eigen-3.3.7
+   mkdir build
+   cd build
+   cmake ..
+   sudo make install
+else
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing Eigen 3 via apt install"
+   fi
+   sudo apt install -y libeigen3-dev
+fi 
+
+# ceres
+if [ $VERBOSE == "true" ]; then
+   echo "Installing ceres 2.0 via source..."
+fi
+cd $DEPS_PATH
+git clone https://ceres-solver.googlesource.com/ceres-solver
+cd ceres-solver
+git checkout 2.0
+git pull
+mkdir -p build && cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+make -j$CORES
+make test
+sudo make install
+
+# spdlog
+if [ $VERBOSE == "true" ]; then
+   echo "Installing spdlog 0.17 via source..."
+fi
+cd $DEPS_PATH
+git clone https://github.com/gabime/spdlog.git
+cd spdlog
+git checkout v0.17.0
+git pull
+mkdir -p build && cd build
+cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" ..
+make -j$CORES
+sudo make install
+
+
+# WOLF #####################################################
+cd $RUN_PATH
+if [ $VERBOSE == "true" ]; then
+   echo "You are in folder $PWD"
+fi
+echo "Enter path for wolf folder (either /global/path or relative/path):"
+read WOLF_PATH
+cd $WOLF_PATH
+mkdir wolf
+cd wolf
+WOLF_PATH=$PWD
+if [ $VERBOSE == "true" ]; then
+   echo "wolf folder path: $PWD/wolf"
+fi
+
+
+# CORE -----------------------------------------------------
+if [ $VERBOSE == "true" ]; then
+   echo "Cloning wolf core..."
+fi
+cd $WOLF_PATH
+git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+cd wolf
+git pull
+
+if [ $VERBOSE == "true" ]; then
+   echo "Compiling wolf core..."
+fi
+mkdir -p build && cd build
+cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
+cd build
+make -j$CORES
+
+if [ $VERBOSE == "true" ]; then
+   echo "Installing wolf core..."
+fi
+sudo make install
+
+if [ $VERBOSE == "true" ]; then
+   echo "Testing wolf core..."
+fi
+ctest -j$CORES
+
+
+# IMU --------------------------------------------------
+echo "Do you want to download and install plugin imu? (y/n)"
+read INSTALL_IMU
+if [ $INSTALL_IMU == "y" ]; then
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Cloning plugin imu..."
+   fi
+   cd $WOLF_PATH
+   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
+   cd imu
+   git pull
+   
+   if [ $VERBOSE == "true" ]; then
+      echo "Compiling plugin imu..."
+   fi
+   mkdir -p build && cd build
+   cmake .. -DCMAKE_BUILD_TYPW=Release
+   cd build
+   make -j$CORES
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing plugin imu..."
+   fi
+   sudo make install
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Testing plugin imu..."
+   fi
+   ctest -j$CORES
+else
+   if [ $VERBOSE == "true" ]; then
+      echo "Skipping plugin imu."
+   fi
+fi
+
+# GNSS --------------------------------------------------
+echo "Do you want to download and install plugin gnss? (y/n)"
+read INSTALL_GNSS
+if [ $INSTALL_GNSS == "y" ]; then
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing plugin gnss dependencies..."
+   fi
+   cd $DEPS_PATH
+   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/gauss_project/gnss_utils.git
+   cd gnss_utils
+   git submodule update --init
+   mkdir -p build && cd build
+   cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
+   make -j$CORES
+   ctest -j$CORES
+   sudo make install
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Cloning plugin gnss..."
+   fi
+   cd $WOLF_PATH
+   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git
+   cd gnss
+   git pull
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Compiling plugin gnss..."
+   fi
+   mkdir -p build && cd build
+   cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
+   cd build
+   make -j$CORES
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing plugin gnss..."
+   fi
+   sudo make install
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Testing plugin gnss..."
+   fi
+   ctest -j$CORES
+else
+   if [ $VERBOSE == "true" ]; then
+      echo "Skipping plugin gnss."
+   fi
+fi
+
+
+# LASER --------------------------------------------------
+echo "Do you want to download and install plugin laser? (y/n)"
+read INSTALL_LASER
+if [ $INSTALL_LASER == "y" ]; then
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing plugin laser dependencies..."
+   fi
+
+   # CSM
+   echo "Do you want to install CSM to enable ICP processors? (y/n)"
+   read INSTALL_CSM
+   if [ $INSTALL_CSM == "y" ]; then
+      cd $DEPS_PATH
+      git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/csm.git
+      cd csm
+      mkdir -p build && cd build
+      cmake -DCMAKE_BUILD_TYPE=Release ..
+      make -j$CORES
+      sudo make install
+   else 
+      if [ $VERBOSE == "true" ]; then
+         echo "Skipping CSM."
+      fi
+   fi
+
+   # FALKO
+   echo "Do you want to install FALKO to enable Falko loop closure processors? (y/n)"
+   read INSTALL_FALKO
+   if [ $INSTALL_FALKO == "y" ]; then
+      cd $DEPS_PATH
+      git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/falkolib.git
+      cd falkolib
+      mkdir -p build && cd build
+      cmake -DCMAKE_BUILD_TYPE=Release ..
+      make -j$CORES
+      sudo make install
+   else 
+      if [ $VERBOSE == "true" ]; then
+         echo "Skipping Falko."
+      fi
+   fi
+
+   # LASER_SCAN_UTILS
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing laser_scan_utils (required)..."
+   fi
+   cd $DEPS_PATH
+   sudo ldconfig
+   git clone ssh://git@gitlab.iri.upc.edu:2202/labrobotica/algorithms/laser_scan_utils.git
+   cd laser_scan_utils
+   mkdir -p build && cd build
+   cmake -DCMAKE_BUILD_TYPE=Release ..
+   make -j$CORES
+   ctest -j$CORES
+   sudo make install
+
+   # PLUGIN
+   if [ $VERBOSE == "true" ]; then
+      echo "Cloning plugin laser..."
+   fi
+   cd $WOLF_PATH
+   sudo ldconfig
+   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
+   cd laser
+   git pull
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Compiling plugin laser..."
+   fi
+   mkdir -p build && cd build
+   cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
+   cd build
+   make -j$CORES
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing plugin laser..."
+   fi
+   sudo make install
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Testing plugin laser..."
+   fi
+   sudo ldconfig
+   ctest -j$CORES
+else
+   if [ $VERBOSE == "true" ]; then
+      echo "Skipping plugin laser."
+   fi
+fi
+
+# VISION --------------------------------------------------
+echo "Do you want to download and install plugin vision (requires to install opencv 3.3.0)? (y/n)"
+read INSTALL_VISION
+if [ $INSTALL_VISION == "y" ]; then
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing plugin vision dependencies..."
+   fi
+   cd $DEPS_PATH
+
+   #install opencv
+   wget https://github.com/opencv/opencv/archive/3.3.0.zip -O temp.zip
+	unzip temp.zip
+	rm temp.zip
+	cd opencv-3.3.0
+	git clone https://github.com/opencv/opencv_contrib.git
+	cd opencv_contrib
+	git checkout 3.3.0
+	cd ..
+	mkdir build
+	cd build
+	cmake -D CMAKE_BUILD_TYPE=Release -D CMAKE_INSTALL_PREFIX=/usr/local -D CMAKE_CXX_FLAGS="-fPIC -std=c++14" -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib/modules ..
+	make -j8
+	sudo make install
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Cloning plugin vision..."
+   fi
+   cd $WOLF_PATH
+   git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.git
+   cd vision
+   git pull
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Compiling plugin vision..."
+   fi
+   mkdir -p build && cd build
+   cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
+   cd build
+   make -j$CORES
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Installing plugin vision..."
+   fi
+   sudo make install
+
+   if [ $VERBOSE == "true" ]; then
+      echo "Testing plugin vision..."
+   fi
+   ctest -j$CORES
+else
+   if [ $VERBOSE == "true" ]; then
+      echo "Skipping plugin vision."
+   fi
+fi
+
+# APRILTAG --------------------------------------------------
+if [ $INSTALL_VISION == "y" ]; then
+   echo "Do you want to download and install plugin apriltag? (y/n)"
+   read INSTALL_APRILTAG
+   if [ $INSTALL_APRILTAG == "y" ]; then
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Installing plugin apriltag dependencies..."
+      fi
+      cd $DEPS_PATH
+      git clone https://github.com/AprilRobotics/apriltag apriltaglib
+      cd apriltaglib
+      mkdir -p build && cd build
+      cmake -DCMAKE_BUILD_TYPE=Release ..
+      make -j$CORES
+      ctest -j$CORES
+      sudo make install
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Cloning plugin apriltag..."
+      fi
+      cd $WOLF_PATH
+      git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag.git
+      cd apriltag
+      git pull
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Compiling plugin apriltag..."
+      fi
+      mkdir -p build && cd build
+      cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
+      cd build
+      make -j$CORES
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Installing plugin apriltag..."
+      fi
+      sudo make install
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Testing plugin apriltag..."
+      fi
+      ctest -j$CORES
+   else
+      if [ $VERBOSE == "true" ]; then
+         echo "Skipping plugin apriltag."
+      fi
+   fi
+else
+   if [ $VERBOSE == "true" ]; then
+      echo "Skipping plugin apriltag since plugin vision was not installed."
+   fi
+fi
+
+# BODYDYNAMICS --------------------------------------------------
+if [ $INSTALL_IMU == "y" ]; then
+   echo "Do you want to download and install plugin bodydynamics? (y/n)"
+   read INSTALL_BD
+   if [ $INSTALL_BD == "y" ]; then
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Cloning plugin bodydynamics..."
+      fi
+      cd $WOLF_PATH
+      git clone ssh://git@gitlab.iri.upc.edu:2202/mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics.git
+      cd bodydynamics
+      git pull
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Compiling plugin bodydynamics..."
+      fi
+      mkdir -p build && cd build
+      cmake .. -DCMAKE_BUILD_TYPW=Release
+      cd build
+      make -j$CORES
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Installing plugin bodydynamics..."
+      fi
+      sudo make install
+
+      if [ $VERBOSE == "true" ]; then
+         echo "Testing plugin bodydynamics..."
+      fi
+      ctest -j$CORES
+   else
+      if [ $VERBOSE == "true" ]; then
+         echo "Skipping plugin bodydynamics."
+      fi
+   fi
+else
+   if [ $VERBOSE == "true" ]; then
+      echo "Skipping plugin bodydynamics since plugin imu was not installed."
+   fi
+fi