**installing riskrrt** $ sudo apt-get install ros-indigo-navigation $ cd ~/catkin_ws/src $ git clone https://github.com/Spalanza/riskrrt_ros.git $ catkin_make **running the examples scenarios** some examples scenarios (using stage) are provided in worlds/ run the scenario with $ roslaunch riskrrt scenario_name.launch change the planner behavior by modifying the parameters in params/riskrrt_params.yaml **provided nodes** controller: a path following node for differential drive robots subscribed topics: trajectory (riskrrt/Trajectory) robot pose (geometry_msgs/PoseWithCovarianceStamped) published topics: controller feedback, true if robot is on trajectory (std_msgs/Bool) velocity commands (geometry_msgs/Twist) goal_pub: automatic goal publisher args: pose x (m), pose y (m) with respect to map published topics: goal (geometry_msgs/PoseStamped) og_builder*: some occupany grid array publishers args: number of humans, human speed (m/s) subscribed topics: map (nav_msgs/OccupancyGrid) human odometry (nav_msgs/Odometry) published topics: human velocity (geometry_msgs/Twist) occupancy grid array (riskrrt/OccupancyGridArray) riskrrt_planner: the riskrrt planner subscribed topics: occupancy grid array (riskrrt/OccupancyGridArray) goal (geometry_msgs/PoseStamped) controller feedback (std_msgs/Bool) robot pose (geometry_msgs/PoseWithCovarianceStamped) robot odometry (nav_msgs/Odometry) published topics: trajectory (riskrrt/Trajectory) **publishing your own map** use the maxDepth and timeStep parameters from params/riskrrt_params.yaml -maxDepth should be the occupancy grid array size -timeStep should be the time gap between each grid