sosflyyi / camp

Planning software for autonomous surface and underwater vehicles.

CCOM Autonomous Mission Planner

Planning software for autonomous surface and underwater vehicles.

This was initially a stand-alone offline application for planning missions. A ROS based monitoring component got added and this is now a ROS package part of Project11.

Build

Include into a ROS workspace and it should build alonside your other packages.

Building on Windows 10 (old instructions)

Initially, CAMP was a cross-platform application. It may still compile on system other than Ubuntu, but this has not been tested in a while.

These were the steps followed using the lastest versions at the time. May also work with different versions.

• Installed Visual Studio Community 2017
• Installed QT 5.9.1 (offline installer) (selecting VS 2017 64bit libraries)
• Installed CMake 3.9.1
• Built GDAL 2.2.1 from source.

Building GDAL

• edited nmake.opt modifiying GDAL_HOME to desired install location
• opened x64 Native Tools COmmand Prompt for VS 2017
• cd'ed to GDAL source directory
• nmake -f makefile.vc MSVC_VER=1910 WIN64=1
• nmake -f makefile.vc MSVC_VER=1910 WIN64=1 devinstall

Building AutonomousMissionPlanner

• Using CMake GUI, choose source directory and build directory (created ./build/ in source directory)
• Picked Visual Studio 15 2017 Win64 as the generator.
• Help CMake find QT5 by pointing Qt5_DIR at C:\Qt\Qt5.9.1\5.9.1\msvc2017_64\lib\cmake\Qt5
• Specify GDAL header and library locations
• Customized CMAKE_INSTALL_PREFIX. (Default gave access errors trying to install)
• Generate project
• Opened AutonomousMissionPlanner.sln in build directory.
• Built INSTALL target.

Contributed by @shujaatak to solve issue with finding proj4 dll at runtime:

Building PROJ4

• Download PROJ4 - https://github.com/OSGeo/proj.4
• Unzip it.
• In the source directory, edit nmake.opt modifiying INSTDIR to desired install/build location
• Run "VS2015 x64 Native Tools Command Prompt" for VS 2015
• Change directory to PROJ4 source directory
• Run these commands one after other:

1. • nmake /f makefile.vc MSVC_VER=1910 WIN64=1
2. • nmake /f makefile.vc MSVC_VER=1910 WIN64=1 install-all

• After completion, you will find the compiled PROJ4 lib, include and bin folders in your specified install/build location, From bin folder, copy proj.dll to the AutonomousMissionPlanner.exe folder. Done!