Installation Instructions

To use this pakage you will need a system with ROS (currently tested with Jade), with the Octomap and catkin_tools packages.

To stage the planer stack you will need to setup a catkin workspace. Refer to the catkin Tutorials for instructions.First, download the rhem_planner stack, with all its dependencies. To do that, navigate to the source folder of your catkin workspace and:

git clone https://github.com/unr-arl/rhem_planner.git
cd rhem_planner
git submodule init --
git submodule sync --recursive
git submodule update --init --recursive

The rhem_planner stack also depends on rovio_bsp, a modified version of the Robust Visual-Inertial Odometry pipeline. This is included as a submodule, and will be downloaded and compiled alongside the stack.

(Attention: Sourcing the stack workspace will also source rovio_bsp, this will overlay any other version of rovio you might be using.)

Navigate back to your ros catkin workspace folder and proceed with a Release build:

catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release