WOLF

This repository serves as a sandbox for WOLF: A Modular Estimation Framework for Robotics, which is a candidate simultaneous localization and mapping (SLAM) framework using multi-scale fiducial markers.

Installation

The overall installation procedure is the same as that of the original WOLF, as presented in its installation manual.

Prerequisite

WOLF requires C++14 and has dependencies on CMake, Autoreconf, Eigen, Ceres, Yaml-cpp, and spdlog. For detailed information, please refer to the dependencies.

Option 1: Install by building every submodule

The first option to install WOLF is to install each submodule, which can be obtained by cloning this repository.

$ cd SUBMODULE_NAME
$ mkdir build && cd build
$ cmake ..
$ make -j$(nproc)
$ sudo make install
$ cd ..

Repeat this process in the following order: wolf, laser, imu, vision, apriltag, and gnss.

Option 2: Install by executing install_wolf.sh

Alternatively, you can install WOLF by executing the install_wolf.sh bash file.

What's changed compared to the original WOLF?

• apriltag library now refers to https://github.com/tag-nav/multiscale-marker-detection instead of https://github.com/AprilRobotics/apriltag.
• vision module now refers to https://github.com/tag-nav/wolf_vision instead of https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/vision.
• apriltag module now refers to https://github.com/tag-nav/wolf_apriltag instead of https://gitlab.iri.upc.edu/mobile_robotics/wolf_projects/wolf_lib/plugins/apriltag.

These changes have already been reflected in both Option 1 and Option 2.