improved install_wolf

install_wolf.sh

@@ -83,8 +83,9 @@ INSTALL_FALKO="undefined"
 INSTALL_CSM="undefined"
 DEPS_PATH="undefined"
 WOLF_PATH="undefined"
+WOLF_BRANCH="main"
 
-while getopts "ap:d:w:hf:c:" opt; do
+while getopts "ap:d:w:hf:c:b:" opt; do
    case ${opt} in
       a) # install all plugins
       	if [ "$INSTALL_PLUGINS" != "" ]; then
@@ -151,6 +152,10 @@ while getopts "ap:d:w:hf:c:" opt; do
             exit 1
          fi
          ;;
+      b) # branch to clone      
+         WOLF_BRANCH=$OPTARG
+         func_echo "Set wolf branch: ${WOLF_BRANCH}"
+         ;;
       h ) # help
          usage
          exit 0
@@ -215,8 +220,19 @@ fi
 # ceres
 func_echo "Installing ceres 2.0 via source..."
 cd $DEPS_PATH
-git clone --depth 1 -b 2.0.0 https://ceres-solver.googlesource.com/ceres-solver
-cd ceres-solver
+
+FOLDER_NAME="ceres-solver"
+if [ ! -d $FOLDER_NAME ];
+then
+   git clone --depth 1 -b 2.0.0 https://ceres-solver.googlesource.com/ceres-solver
+   cd $FOLDER_NAME
+else
+   cd $FOLDER_NAME
+   git fetch --all
+   git checkout 2.0.0
+   git pull
+fi
+
 mkdir -p build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release ..
 make -j$CORES
@@ -226,8 +242,19 @@ func_make_install
 # spdlog
 func_echo "Installing spdlog 0.17 via source..."
 cd $DEPS_PATH
-git clone --depth 1 -b v0.17.0 https://github.com/gabime/spdlog.git
-cd spdlog
+
+FOLDER_NAME="spdlog"
+if [ ! -d $FOLDER_NAME ];
+then
+   git clone --depth 1 -b v0.17.0 https://github.com/gabime/spdlog.git
+   cd $FOLDER_NAME
+else
+   cd $FOLDER_NAME
+   git fetch --all
+   git checkout v0.17.0
+   git pull
+fi
+
 mkdir -p build && cd build
 cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS="${CMAKE_CXX_FLAGS} -fPIC" ..
 make -j$CORES
@@ -255,8 +282,18 @@ func_echo "wolf folder path: $WOLF_PATH"
 # CORE -----------------------------------------------------
 func_echo "Cloning wolf core..."
 cd $WOLF_PATH
-git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf.git
-cd wolf
+
+FOLDER_NAME="wolf"
+if [ ! -d $FOLDER_NAME ];
+then
+   git clone -b $WOLF_BRANCH https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/wolf.git
+   cd $FOLDER_NAME
+else
+   cd $FOLDER_NAME
+   git fetch --all
+   git checkout $WOLF_BRANCH
+   git pull
+fi
 
 func_echo "Compiling wolf core..."
 mkdir -p build && cd build
@@ -284,8 +321,18 @@ if [ $INSTALL_IMU == "y" ]; then
 
    func_echo "Cloning plugin imu..."
    cd $WOLF_PATH
-   git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
-   cd imu
+
+   FOLDER_NAME="imu"
+   if [ ! -d $FOLDER_NAME ];
+   then
+      git clone -b $WOLF_BRANCH https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/imu.git
+      cd $FOLDER_NAME
+   else
+      cd $FOLDER_NAME
+      git fetch --all
+      git checkout $WOLF_BRANCH
+      git pull
+   fi
    
    func_echo "Compiling plugin imu..."
    mkdir -p build && cd build
@@ -315,8 +362,17 @@ if [ $INSTALL_GNSS == "y" ]; then
 
    func_echo "Installing plugin gnss dependencies..."
    cd $DEPS_PATH
-   git clone https://gitlab.iri.upc.edu/mobile_robotics/gauss_project/gnss_utils.git
-   cd gnss_utils
+
+   FOLDER_NAME="gnss_utils"
+   if [ ! -d $FOLDER_NAME ];
+   then
+      git clone https://gitlab.iri.upc.edu/mobile_robotics/gauss_project/gnss_utils.git
+      cd $FOLDER_NAME
+   else
+      cd $FOLDER_NAME
+      git pull
+   fi
+
    git submodule update --init
    mkdir -p build && cd build
    cmake -DCMAKE_BUILD_TYPE=Release -DBUILD_DEMOS=ON -DBUILD_TESTS=ON ..
@@ -326,8 +382,18 @@ if [ $INSTALL_GNSS == "y" ]; then
 
    func_echo "Cloning plugin gnss..."
    cd $WOLF_PATH
-   git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git
-   cd gnss
+
+   FOLDER_NAME="gnss"
+   if [ ! -d $FOLDER_NAME ];
+   then
+      git clone -b $WOLF_BRANCH https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/gnss.git
+      cd $FOLDER_NAME
+   else
+      cd $FOLDER_NAME
+      git fetch --all
+      git checkout $WOLF_BRANCH
+      git pull
+   fi
 
    func_echo "Compiling plugin gnss..."
    mkdir -p build && cd build
@@ -376,8 +442,17 @@ if [ $INSTALL_LASER == "y" ]; then
          sudo apt install -y libgsl-dev
       fi
       cd $DEPS_PATH
-      git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/csm.git
-      cd csm
+
+      FOLDER_NAME="csm"
+      if [ ! -d $FOLDER_NAME ];
+      then
+         git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/csm.git
+         cd $FOLDER_NAME
+      else
+         cd $FOLDER_NAME
+         git pull
+      fi
+
       mkdir -p build && cd build
       cmake -DCMAKE_BUILD_TYPE=Release ..
       make -j$CORES
@@ -398,8 +473,17 @@ if [ $INSTALL_LASER == "y" ]; then
    fi
    if [ $INSTALL_FALKO == "y" ]; then
       cd $DEPS_PATH
-      git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/falkolib.git
-      cd falkolib
+
+      FOLDER_NAME="falkolib"
+      if [ ! -d $FOLDER_NAME ];
+      then
+         git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/falkolib.git
+         cd $FOLDER_NAME
+      else
+         cd $FOLDER_NAME
+         git pull
+      fi
+
       mkdir -p build && cd build
       cmake -DCMAKE_BUILD_TYPE=Release ..
       make -j$CORES
@@ -411,8 +495,17 @@ if [ $INSTALL_LASER == "y" ]; then
    # LASER_SCAN_UTILS
    func_echo "Installing laser_scan_utils (required)..."
    cd $DEPS_PATH
-   git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
-   cd laser_scan_utils
+
+   FOLDER_NAME="laser_scan_utils"
+   if [ ! -d $FOLDER_NAME ];
+   then
+      git clone https://gitlab.iri.upc.edu/labrobotica/algorithms/laser_scan_utils.git
+      cd $FOLDER_NAME
+   else
+      cd $FOLDER_NAME
+      git pull
+   fi
+
    mkdir -p build && cd build
    cmake -DCMAKE_BUILD_TYPE=Release ..
    make -j$CORES
@@ -423,8 +516,18 @@ if [ $INSTALL_LASER == "y" ]; then
    # PLUGIN
    func_echo "Cloning plugin laser..."
    cd $WOLF_PATH
-   git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
-   cd laser
+
+   FOLDER_NAME="laser"
+   if [ ! -d $FOLDER_NAME ];
+   then
+      git clone -b $WOLF_BRANCH https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git
+      cd $FOLDER_NAME
+   else
+      cd $FOLDER_NAME
+      git fetch --all
+      git checkout $WOLF_BRANCH
+      git pull
+   fi
 
    func_echo "Compiling plugin laser..."
    mkdir -p build && cd build
@@ -464,8 +567,18 @@ if [ $INSTALL_VISION == "y" ]; then
 
    func_echo "Cloning plugin vision..."
    cd $WOLF_PATH
-   git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.git
-   cd vision
+
+   FOLDER_NAME="vision"
+   if [ ! -d $FOLDER_NAME ];
+   then
+      git clone -b $WOLF_BRANCH https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.git
+      cd $FOLDER_NAME
+   else
+      cd $FOLDER_NAME
+      git fetch --all
+      git checkout $WOLF_BRANCH
+      git pull
+   fi
 
    func_echo "Compiling plugin vision..."
    mkdir -p build && cd build
@@ -497,8 +610,17 @@ if [ $INSTALL_VISION == "y" ]; then
 
       func_echo "Installing plugin apriltag dependencies..."
       cd $DEPS_PATH
-      git clone https://github.com/AprilRobotics/apriltag apriltaglib
-      cd apriltaglib
+
+      FOLDER_NAME="apriltaglib"
+      if [ ! -d $FOLDER_NAME ];
+      then
+         git clone https://github.com/AprilRobotics/apriltag apriltaglib
+         cd $FOLDER_NAME
+      else
+         cd $FOLDER_NAME
+         git pull
+      fi
+
       mkdir -p build && cd build
       cmake -DCMAKE_BUILD_TYPE=Release ..
       make -j$CORES
@@ -507,8 +629,18 @@ if [ $INSTALL_VISION == "y" ]; then
 
       func_echo "Cloning plugin apriltag..."
       cd $WOLF_PATH
-      git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag.git
-      cd apriltag
+
+      FOLDER_NAME="apriltag"
+      if [ ! -d $FOLDER_NAME ];
+      then
+         git clone -b $WOLF_BRANCH https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag.git
+         cd $FOLDER_NAME
+      else
+         cd $FOLDER_NAME
+         git fetch --all
+         git checkout $WOLF_BRANCH
+         git pull
+      fi
 
       func_echo "Compiling plugin apriltag..."
       mkdir -p build && cd build
@@ -543,8 +675,18 @@ if [ $INSTALL_IMU == "y" ]; then
 
       func_echo "Cloning plugin bodydynamics..."
       cd $WOLF_PATH
-      git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics.git
-      cd bodydynamics
+
+      FOLDER_NAME="bodydynamics"
+      if [ ! -d $FOLDER_NAME ];
+      then
+         git clone -b $WOLF_BRANCH https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/bodydynamics.git
+         cd $FOLDER_NAME
+      else
+         cd $FOLDER_NAME
+         git fetch --all
+         git checkout $WOLF_BRANCH
+         git pull
+      fi
 
       func_echo "Compiling plugin bodydynamics..."
       mkdir -p build && cd build