diff --git a/auto_script_wolf b/auto_script_wolf
new file mode 100644
index 0000000000000000000000000000000000000000..a3c5bf8b8f387a2726f695e1f0c3bda8c8085e2a
--- /dev/null
+++ b/auto_script_wolf
@@ -0,0 +1,56 @@
+#!/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
diff --git a/install_wolf.sh b/install_wolf.sh
new file mode 100644
index 0000000000000000000000000000000000000000..2c6cc344ad5e7e680039fe2b9178311a768a977f
--- /dev/null
+++ b/install_wolf.sh
@@ -0,0 +1,481 @@
+#!/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