This is a version of the KCL OPTIC Planner designed to be built as part of a ROS 2 workspace.
Information about the original planner, including academic literature and original source code can be found found at KCL's website for the planner
Some changes to modernize the source code for compilation by modern compilers was taken from the roveri-marco version on github.
Finally, the ROS version of the KCL popf planner, also on github, served as an example for creating a ROS package out of a legacy planner.