
+ This ROS package contains the implementation of the consistent behavior generation module which allows for mobile robots to enhance its by adaptation to complex off-road terrains

+ This is not a standalone package and would require a feature extraction module and requires many other modules such as global planner, local planner, feature extraction and SLAM to work**

+ System requirements
    + Ubuntu 18.04
    + ROS Melodic
    + OpenCV 3.4.2
    + Eigen 3.4

+ To run consistent behavior generation module in ROS have the values:
    + Extract custom HOG and LBP features of length 9576 and 256
    + Get Elevation feature vector of 1600 long, 40 x 40 grid with each grid being 25 cm wide
    + Get any SLAM approach that outputs odomtery readings and convert it to a single vector
    
+ Place this package inside a ROW workspace

+ Using the extracted features run the consistent behavior generation node as 
    
    rosrun consistent_behaviors consistent_behaviors method_type:=c-1
    
+ You can change the historical time sequences by using "c-3", "c-5" or "c-10" instead of "c-1"
