1、依赖
powershell
sudo apt-get install libarmadillo-dev
2、下载源码
powershell
git clone https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git
3、编译
powershell
cd ego-planner-swarm
catkin_make -DCMAKE_BUILD_TYPE=Release -j1
4、编译报错

下载缺少的文件(下面这篇博客提供了网盘下载)
下载文件的博客
将以下文件复制到ego-planner-swarm/devel/include/multi_map_server/下。
重新编译
powershell
cd ego-planner-swarm
catkin_make -DCMAKE_BUILD_TYPE=Release -j1
5、运行程序
集群
终端1:
powershell
cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner rviz.launch
终端2:
powershell
cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner swarm.launch

单机
终端1:
powershell
cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner rviz.launch
终端2:
powershell
cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner single_run_in_sim.launch
