**********************
* rrg-polito-ros-pkg *
**********************

ROS Stack for Robotics Research Group of Politecnico di Torino

**********************
* Notes and Warnings *
**********************
Currently our code was compiled and tested on the following platforms:
 * Ubuntu 11.04 LTS - 32bits
 * Ubuntu 12.04 LTS - 32bits

Using ROS Electric: ros.org/wiki/electric
but it should run on newer ROS versions with small modifications.

This library is a research-level software which is still in development.

****************
* Installation *
****************
1. Install dependencies
 $ sudo apt-get install ros-electric-occupancy-grid-utils ros-electric-laser-drivers
 $ git clone https://github.com/ccny-ros-pkg/scan_tools.git
 $ rosmake csm

2. Compile and install LAGO optimizer (if needed). An installation of the CSparse library 
   (http://www.cise.ufl.edu/research/sparse/CSparse/CSparse.tar.gz) is needed.
 $ git clone https://github.com/rrg-polito/lago.git
 $ cd lago/graphSLAM_sc_fast
 $ make
 $ sudo cp graphSLAM_sc /usr/bin/

3. Download and compile ROS packages
 $ git clone https://github.com/rrg-polito/rrg-polito-ros-pkg.git
 $ rosmake graph_slam
 $ rosmake grid_mapper
 $ (optional) rosmake odometry_node 

**************
* How to use *
**************
For running graph slam:

0. (optional) rosrun odometry_node odometry_node (for odometry correction using gyros)

1. rosrun graph_slam graph_slam_node (see source code for options)
 
2. rosrun grid_mapper grid_construction_node