Run Instructions

version: MATLAB R2022a

How to Run:
1. Download 'example_synced.bag' from RELLIS-3D Github to your computer.
2. Open PerceptionNodeV2.mat
3. (line 5) Set the filepath to the location of the saved .bag file.
4. Save and run.

Set Parameters (optional)
1. To change costmap values, see Line 101.
2. To change sensor positioning (eg. Z-axis, center point, radius, etc.), see Lines 56-57, 68.
3. There are 2 implementations of the cost map:
(a) The occupancy grid (contour output)
(b) The cost map (square block grid output)
- Default is (a) found in Lines 111-163. Feel free to comment those lines to supress (a)
- To run (b), uncomment 165-235