Installation instructions for Linux machines:

1. Go into the magic2010/ipc

2. make a softlink of the ipc library in accordance to your system architecture

   sudo ln -s libipc.a.(ARCH) libipc.a

3. install MATLAB (earliest 2007a, latest 2012b)

4. Enter directory where MATLAB is installed (usually /usr/local/MATLAB)

5. remove libstdc++.so.6 in sys/os/glnx(ARCH)/

6. make a softlink of system standard c++ library to this directory (usually in /usr/lib/(ARCH)-linux-gnu/)

   sudo ln -s $(PATH_TO_SYSTEM_C++LIB)/libstdc++.so $(PATH_TO_MATLAB)/sys/os/glnx(ARCH)/libstdc_.so.6

7. Go into magic2010 directory

8. run install.sh

This git repository consists of code for the UAV-UGV collaborative robotics system project. The system integrates the SLAM algorithm in the multi-autonomous ground robotics system with a UAV system used to constrain local maps in a global coordinate system. The UAVs use the AprilTags fiducial marker system to determine full 6-DOF localization of the ground robots in order to create the map constraints. The UAVs also use this system for flight control.

drivers/

Contains all hardware and software drivers for ground robots, UAV communication, and vision.

ipc/

Consists of the Carnegie Mellon University IPC package as well as wrappers for use in MATLAB.

components/

Contains major components to SLAM algorithm and path planning

scripts/

Contains scripts to run central, necessary hardware drivers, and software drivers.