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<div class="headertitle"><div class="title">CURLY State Estimator </div></div>
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<div class="contents">
<div class="textblock"><p><b>Authors: Tzu-Yuan Lin, Tingjun Li, Jonathan Tong, and Justin Yu</b></p>
<h1><a class="anchor" id="autotoc_md1"></a>
1. License</h1>
<p>CURLY State Estimator is released under a <a href="https://github.com/UMich-CURLY/curly_state_estimator/blob/main/LICENSE">GPLv3 license</a>.</p>
<h1><a class="anchor" id="autotoc_md2"></a>
2. Dependencies</h1>
<p>We have tested the library in <b>Ubuntu 20.04</b> and <b>22.04</b>, but it should be easy to compile in other platforms.</p>
<blockquote class="doxtable">
<p>&zwj;### C++17 Compiler </p>
</blockquote>
<p>We use the threading functionalities of C++17.</p>
<blockquote class="doxtable">
<p>&zwj;### Eigen3 </p>
</blockquote>
<p>Required by header files. Download and install instructions can be found at: <a href="http://eigen.tuxfamily.org">http://eigen.tuxfamily.org</a>. <b>Requires at least 3.1.0</b>.</p>
<blockquote class="doxtable">
<p>&zwj;### Yaml-cpp </p>
</blockquote>
<p>Required by header files. Download and install instructions can be found at: <a href="https://github.com/jbeder/yaml-cpp">https://github.com/jbeder/yaml-cpp</a>.</p>
<blockquote class="doxtable">
<p>&zwj;### ROS1 or ROS2 (optional) </p>
</blockquote>
<p>Building with ROS1 or ROS2 is optional. Instructions are <a href="https://github.com/UMich-CURLY/curly_state_estimator/tree/main#4-ros">found below</a>.</p>
<h1><a class="anchor" id="autotoc_md3"></a>
3. Building CURLY State Estimator library</h1>
<p>Clone the repository: </p><div class="fragment"><div class="line">git clone https://github.com/UMich-CURLY/curly_state_estimator.git</div>
</div><!-- fragment --><p> Create another directory which we will name 'build' and use cmake and make to compile an build project:</p>
<div class="fragment"><div class="line">mkdir build</div>
<div class="line">cd build</div>
<div class="line">cmake ..</div>
<div class="line">make -j4</div>
</div><!-- fragment --><h1><a class="anchor" id="autotoc_md4"></a>
4. ROS</h1>
<h2><a class="anchor" id="autotoc_md5"></a>
Building the ROS1 robot_state_est nodes</h2>
<ol type="1">
<li><p class="startli">Add <code>/ROS/curly_state_estimator</code> to the <code>ROS_PACKAGE_PATH</code> environment variable. Open your ~/.bashrc file in a text editor and add the following line to the end. Replace PATH/TO with the directory path to where you cloned curly_state_estimator:</p>
<div class="fragment"><div class="line">export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:PATH/TO/curly_state_estimator/ROS/curly_state_estimator</div>
</div><!-- fragment --><p class="startli">Then </p><div class="fragment"><div class="line">source ~/.bashrc</div>
</div><!-- fragment --></li>
<li><p class="startli">Execute <code>build_ros.sh</code> script in the repository root directory:</p>
<div class="fragment"><div class="line">cd &lt;PATH&gt;/&lt;TO&gt;/curly_state_estimator</div>
<div class="line">chmod +x build_ros.sh</div>
<div class="line">./build_ros.sh</div>
</div><!-- fragment --></li>
</ol>
<h2><a class="anchor" id="autotoc_md6"></a>
Run examples:</h2>
<p><b>Clearpath Husky robot:</b> </p><div class="fragment"><div class="line">rosrun curly_state_estimator ros_comm_test</div>
</div><!-- fragment --><p><b>Fetch robot:</b> </p><div class="fragment"><div class="line">rosrun curly_state_estimator fetch_test</div>
</div><!-- fragment --><p><b>MIT mini-cheetah robot:</b> </p><div class="fragment"><div class="line">rosrun curly_state_estimator leg_kin_test</div>
</div><!-- fragment --><h2><a class="anchor" id="autotoc_md7"></a>
Run the repo with your own settings:</h2>
<p>Users can add configs inside <code>config/filter/inekf/</code> directory. Configs in <code>propagation/</code> stores settings related to propagation methods, e.g., <code>mini_cheetah_imu_propagation.yaml</code> includes all the settings we need to perform imu propagation in the filter. Configs in <code>correction</code> stores settings related to correction methods. For example, velocity correction method settings can refer to <code>fetch_velocity_correction.yaml</code> or <code>velocity_correction.yaml</code>, while legged kinematics correction method settings can refer to <code>mini_cheetah_legged_kinematics_correction.yaml</code>.</p>
<p>After editting the config files, one can easily follow tutorial comments in examples in <code>ROS/examples</code> to create new cases! </p>
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