This package is designed to provide rewards for a given point or trajectory.

• ROS (needs python3)
• gdal (apt install libgdal-dev, or python3-gdal)
• osgeo (pip install GDAL - needs to match your gdal version)
• shapely (pip)
• pymap3d (pip)
• utm (pip)
• affine (pip)
• numpy (pip)

The services need to be built in order to run

cd /path/to/workspace
catkin_make

Source workspace:

source /path/to/workspace/devel/setup.bash

Start the server, giving the location to the reward tif:

roslaunch raster_rewards raster_reward.launch reward_raster_path:=/path/to/reward_raster.tif

Use the demo to get the reward for the path:

rosrun raster_rewards demo_client.py --csv /path/to/points.csv