CS603_RRT

RRT Planning for an ackerman-steered car.

Dependencies

Install ROS

And install additional dependencies

sudo apt-get install cmake build-essential clang libgoogle-glog-dev  libgflags-dev libgtest-dev

Clone This Repository

git clone git@github.com:umass-amrl/CS603_RRT.git

Build Instructions

1. Clone this repo, and enter the directory. All subsequent commands must be run from within the directory.
2. Add the project to the ROS packages path:

   export ROS_PACKAGE_PATH=/PATH/TO/YOUR/REPO:$ROS_PACKAGE_PATH

   Pro-tip: add this line to your .bashrc file.
3. Run make.
   DO NOT RUN cmake directly.
   DO NOT RUN catkin_build or anything catkin-related.

Run

1. Before starting programs that use ros, you will need to start a roscore instance in a terminal that you keep open:

   roscore