安装ego-planner-swarm

1、依赖

sudo apt-get install libarmadillo-dev

2、下载源码

git clone https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git

3、编译

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

cd ego-planner-swarm
catkin_make -DCMAKE_BUILD_TYPE=Release -j1

5、运行程序

集群

终端1:

cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner rviz.launch

终端2:

cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner swarm.launch

单机

终端1:

cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner rviz.launch

终端2:

cd ego-planner-swarm && source devel/setup.bash
roslaunch ego_planner single_run_in_sim.launch