This page covers the installation of the LARICS lattice planner and its dependencies.
$ sudo apt install libmatio-dev
This solves both the matio and the hdf5 dependency.
Run catkin_make and you should be good to go.
On the author's machine installing hdf5 via apt-get was faulty and the library had to be built from source.
To do this follow the instructions on this page. Make sure to add the C++ interface in the third step.
$ ./configure --prefix=/usr/local/hdf5 --enable-cxx
Should the linker still reports problems, create a symbolic link to libhdf5.so in the directory where the linker searches for hdf5
$ sudo ln -s /usr/local/hdf5/lib/libhdf5.so /usr/lib/libhdf5.so
Sample launch file entry:
<node pkg="lattice_planner" type="pathPlanner" name="planner" args="vehicle_parameters.mat" output="screen"> <param name="map_frame_id" value="$(arg name)/map"/> <param name="robot_frame_id" value="$(arg name)/$(arg base)"/> <!-- The path shall start in this frame's origin --> </node>
Bare in mind that the planner requires the map's origin to be in [0, 0, 0].
The planner node is subscribed to the following topics:
The planner publishes to the /plan topic