Installation Instructions

The use of this package requires the installation of ROS, ideally Indigo (tested) or later. Refer to the ROS tutorials for further information. To set up the planner copy it to your catkin workspace along with its dependencies:

git clone https://github.com/ethz-asl/nbvplanner.git
git clone https://github.com/ethz-asl/catkin_simple.git
git clone https://github.com/ethz-asl/eigen_catkin.git
git clone https://github.com/ethz-asl/volumetric_mapping.git
git clone https://github.com/ethz-asl/gflags_catkin.git
git clone https://github.com/ethz-asl/glog_catkin.git
git clone https://github.com/ethz-asl/minkindr.git
git clone https://github.com/ethz-asl/minkindr_ros.git
git clone https://github.com/ethz-asl/mav_comm.git

Moreover, make sure you have all the necessary octomap libraries:

apt-get install ros-<distro>-octomap-*

Now make sure you build in Release and compile your workspace:

catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
catkin build

You are ready to run the planner.

To also use the rotors simulator to run the planner in simulation, clone these additional packages:

git clone https://github.com/ethz-asl/rotors.git

and rebuild the workspace.