Code for an autonomous mobile robot TAPAS developed at Poznan University of Technology.

Prerequesities: -VTK >= 5.0 -OpenCV >= 3.0 with viz module -Qt 4.x -QGLViewer -TinyXML -URG library -libLBFGS -optionally CUDA >= 5.0

Prerequesities installation:

1. Install prerequesities with apt-get: sudo apt-get install libvtk5-dev liblbfgs-dev libtinyxml-dev libqglviewer-dev
2. Optionally: sudo apt-get install nvidia-cuda-toolkit (a proper driver have to be installed already)
3. Compile and install OpenCV 3.0 with viz module.
4. Compile and install URG library: http://sourceforge.net/projects/urgnetwork/files/urg_library/ .

Build: mkdir build cd build (adjust CUDA flag in CMakeLists.txt) cmake .. make