My code from the Vision Centric Challenge.

#Installation Besides the code contained here, this code depends on two packages:

• A modified version of the robot_upstart package, available here: https://github.com/kk6axq/robot_upstart/tree/indigo-devel
• The create_autonomy package, available here: https://github.com/AutonomyLab/create_autonomy Both packages were cloned from the indigo-devel branch. #Robot Upstart For my use of the serial ports and camera resources, I needed to access dialout and other groups that were assigned to my user. robot_upstart for security reasons, perhaps, uses setuidguid to run the ROS launch file as the user, the only disadvantage being that the process does not inherit the permissions of the user. My solution was to make sudo passwordless(VERY risky in normal circumstances) and to change the robot_upstart package to change users to the user and then run the launch file.