1. 下载与编译
sudo apt-get install libarmadillo-dev
git clone https://github.com/ZJU-FAST-Lab/ego-planner-swarm.git
cd ego-planner-swarm
catkin_make -j1
source devel/setup.bash
roslaunch ego_planner simple_run.launch
2. 报错与解决
报错：
fatal error: multi_map_server/MultiOccupancyGrid.h: No such file or directory
解决方案：
sudo apt-get install ros-melodic-multi-map-server
sudo apt-get update
sudo apt-get upgrade