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How to run iSAM2 on the EUFS simulator
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Prerequisites
-------------
* Install Ubuntu 20.04 LTS
* Install ROS Foxy
* Install colcon


Setup
-----
EUFS setup taken from https://gitlab.com/eufs/eufs_sim/-/wikis/Getting-Started-Guide


1.) **Clone the git repository**
``git clone [url-of-repository]``

2.) **Change directories to the eufs directory clone the necessary repositories**
    - If the following directories already exist but are empty, make sure to remove them before cloning
    - eufs_sim: https://gitlab.com/eufs/eufs_sim.git
    - eufs_msgs: https://gitlab.com/eufs/eufs_msgs.git
    - eufs_rviz_plugins: https://gitlab.com/eufs/eufs_rviz_plugins.git

3.) **Install colcon extensions and set the EUFS_MASTER environment variable**

.. code-block::

    pip3 install colcon-common-extensions -U
    echo 'export EUFS_MASTER=/path/to/iSAM2_SLAM/eufs' >> ~/.bashrc
    source ~/.bashrc

4.) **Install dependencies for the EUFS simulator using rosdep**

.. code-block::

    sudo apt-get install python3-rosdep
    sudo rosdep init
    rosdep update
    rosdep install --from-paths $EUFS_MASTER --ignore-src -r -y

5.) **Build the eufs package and source it**

    - Change directories to /path/to/iSAM2_SLAM/eufs
    - Run ``colcon build``
    - If the directories ``build``, ``log``, or ``install``, currently exist in eufs, make sure to remove them before building
    - Run ``source install/setup.bash`` from ``/path/to/iSAM2_SLAM/eufs``

6.) **Change directories into /path/to/iSAM2_SLAM/workspace/src and make sure that the eufs_msgs has been built**

    - If the directory exists but is empty, remove the directory, and then clone eufs_msgs: https://gitlab.com/eufs/eufs_msgs.git

7.) **Build the iSAM2 package and source it**

    - Change directories to ``/path/to/iSAM2_SLAM/workspace``
    - Run ``colcon build``
    - If the directories ``build``, ``log``, or ``install``, currently exist in eufs, make sure to remove them before building
    - Run ``source install/setup.bash`` from ``/path/to/iSAM2_SLAM/workspace``

8.) **Run the EUFS simulator**

    - Open start_sim.txt using a text editor
    - This file is responsible for running the simulator by first changing directories to the eufs directory.
    - Make sure to change this path to the your ``/path/to/iSAM2_SLAM/eufs``
    - Save the changes made
    - To run the simulator, call ``bash start_sim.txt``

9.) **In another terminal run the iSAM2 node**

    - Make sure to build and source the package (from step 5)
    - Run ``ros2 run isam2 isam_test``
    - isam2 is the name of the package
    - isam_test is the executable name
    - For more information, see the ``CMakeLists.txt`` file


.. note::
    Whenever you open a new terminal, you must source the package you plan to run

    - When running the simulator, remember to change directories to ``/path/to/iSAM2_SLAM/eufs`` first and run ``source install/setup.bash`` before running ``bash start_sim.txt``
    - When running the iSAM2, remember to change directories to ``/path/to/iSAM2_SLAM/workspace`` first and run ``source install/setup.bash`` before running ``ros2 run isam2 isam_test``