SNU ZERO repo for autonomous vehicle competition

version: Kinetic

Dependency for Hybrid A star reference: https://github.com/karlkurzer/path_planner

sudo apt-get install ros-kinetic-moveit
source /opt/ros/kinetic/setup.bash

Dependency for Opencv

1. the below script will not activate video recording(opencv version problem)

sudo apt-get install libopencv-dev

open ~/.bashrc and add export PKG_CONFIG_PATH=$PKG_CONFIG_PATH:/usr/lib/x86_64-linux-gnu/pkgconfig in the last line

source ~/.bashrc

2. if you want to record the video, erase opencv 2.4 and install opencv 3.4 refer to this link: http://webnautes.tistory.com/1030

R == 255: this is occupied R != 255: this is free region B == 255: this is the target point G == 255: estimated path points (monitor_map only)

(R,G,B) ==(200,200,200): this is lidar position

PathArray: for path data, delta: the delta that the hybrid A* used for the current fragment of the path, this can be used for estimation of curvature of the path

let's use curvature Cost for estimation of path curvature

Hi