Description missing all the requirements & Segmentation fault

I'm trying to use OctomapPlanner following manual.
This repository does not include how, what to install exact requirements to build this repo enough yet.
Missing packages are OpenCV, PCL so far.

OpenCV can be installed with
`sudo apt-get install ros-kinetic-opencv3`

PCL can be installed with
`sudo apt-get install ros-kinetic-pcl-ros`

And there's another problem here
launching main node keeps me segfault after RRT* Algorithm fails.
```
/home/jmarple/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 4.81467
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 4.88444
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 4.95422
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 5.024
/home/jmarple/OctomapPlanner/src/arduplanner.cpp initializeManeuver: Line 294: Desired Yaw: 5.09378
/home/jmarple/OctomapPlanner/src/arduplanner.cpp replanCb: Line 229: Replanner called
/home/jmarple/OctomapPlanner/src/arduplanner.cpp executePlan: Line 220: No new plan available, waiting for 1 seconds before next callback
/home/jmarple/OctomapPlanner/src/Planner.cpp setGoal: Line 139: Goal state: 5 1 1 invalid
/home/jmarple/OctomapPlanner/src/Planner.cpp setStart: Line 112: Start point set to: 2.21468 2.24673 -0.149314
/home/jmarple/OctomapPlanner/src/Planner.cpp replan: Line 180: Replanning
Warning: InformedRRTstar: Skipping invalid start state (invalid bounds)
at line 253 in /tmp/binarydeb/ros-kinetic-ompl-1.2.3/src/ompl/base/src/Planner.cpp
Debug: InformedRRTstar: Discarded start state RealVectorState [2.21468 2.24673 -0.149314]

Error: InformedRRTstar: There are no valid initial states!
at line 200 in /tmp/binarydeb/ros-kinetic-ompl-1.2.3/src/ompl/geometric/planners/rrt/src/RRTstar.cpp
/home/jmarple/OctomapPlanner/src/Planner.cpp plan: Line 216: No solution found
/home/jmarple/OctomapPlanner/src/arduplanner.cpp replanCb: Line 246: New plan generated
Segmentation fault (core dumped)

```
Great works though.
Please keep up the work.

Start by reviewing the build requirements for the ROS Kinetic setup, including OpenCV and PCL, then reproduce the main-node failure. Trace the RRT* failure through src/Planner.cpp and src/arduplanner.cpp, especially setGoal, setStart, plan, and replanCb. Done means the required dependencies are documented and a failed plan no longer ends in a segmentation fault.

Written by the indexing model from the issue text.