Laser

You can install this plugin in a few simple steps detailed below.

1. Required WOLF plugins

Before installing this plugin, core must be installed first.

PCL (1.12 or newer): Point Cloud Library is the main dependency of this plugin. It is a large scale, open project for 2D/3D image and point cloud processing. You can install it using the following command:
```
sudo apt install libpcl-dev
```
CSM (AUTOMATICALLY INSTALLED): our fork of the Canonical Scan Matcher from Andrea Censi, used by the CSM-based ICP for 2D laser scans. We use its eigen branch, which depends only on Eigen (no GSL). You don’t need to install it: if it is not installed, it is downloaded and built automatically when configuring the plugin (cmake ..), and it is installed together with the plugin (make install). This requires internet connection the first time.

The following CMake options are available:
- -DCSM_GIT_TAG=<branch, tag or commit>: version of CSM to download (default eigen).
- -DCSM_FORCE_FETCH=ON: download and build CSM even if it is already installed.
Note

Older CSM versions (1.x, based on GSL) are not used anymore. If you installed one, you can remove it, including the folders include/json-c, include/options and include/egsl that it installed in your install prefix (e.g. /usr/local).

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

Note

To install it in a local folder without sudo, see local installation.

Run all tests of the plugin:

ctest -j4