Laser

You can install this plugin in a few simple steps detailed below. repositories in the same folder.

1. Required WOLF plugins

Before installing this plugin, core must be installed first.

2. Plugin dependencies

  • laser_scan_utils: is a library for LIDAR processing. Follow the installation instructions described in the project repository. It has two optional dependencies that enable the compilation of some processors in wolf:

    • CSM: Enables compilation of processors that use ICP (REQUIRED by the WOLF ROS2 laser 2d demo).

    • Falko: Enables compilation of loop closure processors based on Falko.

3. Install from source

Clone in the desired folder:

git clone -b main https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/laser.git

Important

As WOLF contains several plugins, we recommend you that you clone all repositories in the same folder.

Compile and install:

cd laser
mkdir build && cd build
cmake ..
make -j4
sudo make install

4. Run tests

Run all tests of the plugin:

ctest -j4