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Planning software for autonomous surface and underwater vehicles.

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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:
    • nmake /f makefile.vc MSVC_VER=1910 WIN64=1
    • 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!

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