cdf_cpp

Dependencies

• Qt5 (Qt5::Core, Qt5::Widgets)
• SMPL (github.com/aurone/smpl). SMPL can be built standalone as a CMake project and installed system-wide:
  • Go to smpl/smpl/ and build as a CMake project (see instructions at github.com/aurone/smpl)
  • Install system-wide (make install) to run cdf_cpp as is, because it includes SMPL with abosolute paths)

Note: The SMPL dependency is quite small. Removing it as a dependency is ongoing.

Instructions: (more detailed instructions and examples coming soon)

Building

Build as a regular CMake project:

mkdir build
cd build
cmake ..
make [-j$(nproc)]

(builds in Release mode by default)

Running

Generate rectangular Boustrophedon coverage patterns

To generate coverage patterns that include all rectangles within a 10 cells x 10 cells area, run:

./gen_pattern_no_sampling 10 10

This generates the file patterns_10_10.txt in the patterns/ directory.

Run the planner with these patterns and Qt visualization

./persistent ../maps/test/frontier_test_1.map ../patterns/patterns_30_30.txt 2.0

More details on build and run instructions as well as information on generating pattern files in progress. In the meantime, if you are using this for research, I am available at [email protected] for urgent questions.