Installation:

git clone https://github.com/vladim0105/IN3140_Project.git

Inside the cloned directory:

sudo ./setup.sh

Simulation:

source devel/setup.bash
roslaunch crustcrawler_pen_gazebo controller.launch control:=trajectory
rosrun in3140 path_planner.py (arguments here)

Arguments:

--image/-img //Relative path to image from where you are
--lift_height/-lift //The lift height
--scale/-scl //How much to scale the image, default: 1
--careful //Create more liftpoints to avoid accidents
--origin/-o //The origin of where to draw the image, pivot on image is top-left corner.
--alternative/-alt //Use the alternative and perhaps smarter OpenCV contour algorithm

Important to note that by default the program treats 1px as 1cm, therefore scaling down may be required to keep the image within the workspace of the robot.