Boustrophedon Planner
Boustrophedon Planner is a coverage path planner that implements the Boustrophedon Cell Decomposition algorithm.
Overview
The path planner is an actionlib server that takes in a geometry_msgs/PolygonStamped and a geometry_msgs/PoseStamped,
and returns a StripingPlan message which contains a list of waypoints to stripe the passed in polygon.
License
This library is released under the MIT License by Greenzie. See License for full details.
Installing Dependencies
Download CGAL from here: https://github.com/CGAL/cgal/archive/v4.14.1.zip
cd cgal-4.14.1
mkdir build
cd build
cmake -D WITH_CGAL_Qt5=OFF ..
sudo make install