SBPL-for-ARM-processor

The SBPL and sbpl_lattice_planner algorithms works well in x86 processors but not on ARM based processors. To rectify this issue ,the build configs need to be modified.

SBPL INSTALLATION

git clone https://github.com/nsk-05/SBPL-for-ARM-processor.git
cd sbpl
mkdir build && cd build
cmake ..
make

Install the sbpl library in local system

sudo make install 

Mention the path of the locally installed sbpl lib in bashrc

(ref https://stackoverflow.com/questions/67130750/cmake-find-library-not-finding-library-specified-by-paths)

echo PKG_CONFIG_PATH=/usr/local/lib/pkgconfig:$PKG_CONFIG_PATH >> ~/.bashrc

In jetson nano, need to specify the processor archeitecture for proper source installation of sbpl_lattic_planner:

(ref https://stackoverflow.com/questions/65631801/illegal-instructioncore-dumped-error-on-jetson-nano)

export OPENBLAS_CORETYPE=ARMV8

BUILD Sbpl_lattice_planner

Place the sbpl_lattice_planner in your ros workspace and make package

cd <Your ros workspace>/
catkin_make