Commit 38859a33 authored by asantamaria's avatar asantamaria

adding readme

parent 2301f8d8
# ROS wrapper of the Error-State Kalman Filter based Odometry (Angel Santamaria-Navarro)
# ROS wrapper of the Error-State Kalman Filter based Odometry
This node is a ROS wrapper of the low-level library **eskf_odometry**.
......@@ -7,47 +7,46 @@ This node is a ROS wrapper of the low-level library **eskf_odometry**.
### ROS dependencies
#### iri_core
* **iri_core**
````
```
svn co https://devel.iri.upc.edu/pub/labrobotica/ros/iri-ros-pkg_hydro/metapackages/iri_core
````
```
#### std_msgs
#### sensor_msgs
#### nav_msgs
#### px_comm
#### tf
* **std_msgs**
* **sensor_msgs**
* **nav_msgs**
* **px_comm**
* **tf**
### atools Library
### eskf_odometry library
You have to install asantamaria tools library:
This is the main ESKF library from Angel Santamaria-Navarro. To install it run:
```
$ git clone https://asantamaria@bitbucket.org/asantamaria/atools.git
$ cd atools/build
$ git clone https://asantamaria@bitbucket.org/asantamaria/eskf_odometry.git
$ cd eskf_odometry/build
$ cmake ..
$ make
$ sudo make install
$ sudo make install
```
### eigen3 Headers
**Install** eigen3 in your sistem **following the instructions of the ReadMe file** provided in the tuxfamily package.
You can download it at http://eigen.tuxfamily.org
### atools Library
## Installation
You have to install Angel Santamaria-Navarro tools library:
```
$ git clone https://asantamaria@bitbucket.org/asantamaria/eskf_odometry.git
$ cd eskf_odometry/build
$ git clone https://asantamaria@bitbucket.org/asantamaria/atools.git
$ cd atools/build
$ cmake ..
$ make
$ sudo make install
$ sudo make install
```
### eigen3 Headers
**Install** eigen3 in your sistem **following the instructions of the ReadMe file** provided in the tuxfamily package.
You can download it at http://eigen.tuxfamily.org
## License
......
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