Merge branch 'master' into devel

smb_exploration/README.md

@@ -18,15 +18,15 @@ catkin build smb_exploration
 
 The instructions are pretty much the same for running the planner in simulation or on the real-robot. Once you have the simulation (or real robot smb.launch) running, from a separate sourced terminal run the following command to launch the planner (Note: you will have had to build ```smb_navigation``` package before as well). 
 
-#### Option 1: Running with tracking camera odometry (Recommended)
+#### Option 1: Running with tracking camera odometry
 You will require three sourced terminals for this. In each of the new terminals run the following commands.
 ```bash
 catkin build smb_exploration smb_navigation # Building the necessary packages if not done before
 ```
 ```bash
 roslaunch smb smb.launch launch_tracking_cam:=true # Use the Gazebo equivalent if running in simulation with tracking cam flag
 roslaunch smb_exploration smb_rss_frontier.launch map_frame:=gmap_map publish_odom_to_map:=true # Exploration + GMapping
-roslaunch smb_navigation navigate2d_ompl.launch global_frame:=tracking_camera_odom # Path Planner
+roslaunch smb_navigation navigate2d_ompl.launch exploration:=true global_frame:=gmap_map # Path Planner
 ```
 You can visualize the 2D Occupancy map on the ```/map``` topic and the frontiers on the ```/explore/frontiers``` in RViz.
 

smb_slam/README.md

@@ -9,7 +9,7 @@ Follow instructions the instructions below to build ```smb_slam```.
      sudo apt install libgoogle-glog-dev libglfw3 libglfw3-dev ros-noetic-jsk-rviz-plugins liblua5.2-dev
      sudo add-apt-repository ppa:roehling/open3d
      sudo apt update
-     sudo apt install libopen3d-dev
+     sudo apt install libopen3d-dev cmake
      ```
 3. You can then proceed to build the `smb_slam` package using the following command from the worksapce: `catkin build smb_slam`