Commit 4883c62c authored by asantamaria's avatar asantamaria

adding readme

parent e79ddd96
# ROS wrapper of the asantamaria Error-State Kalman Filter based Odometry
This node is a ROS wrapper of the low-level library **eskf_odometry**.
## Dependencies
### ROS dependencies
#### 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
### atools Library
You have to install asantamaria tools library:
```
$ git clone https://asantamaria@bitbucket.org/asantamaria/atools.git
$ cd atools/build
$ cmake ..
$ make
$ 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
## Installation
```
$ git clone https://asantamaria@bitbucket.org/asantamaria/eskf_odometry.git
$ cd eskf_odometry/build
$ cmake ..
$ make
$ sudo make install
```
## License
Copyright (C)
Author Angel Santamaria-Navarro (asantamaria@iri.upc.edu)
All rights reserved.
This file is part of eskf_odom ROS node.
eskf_odom is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>
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