Installation

This page will provide the instructions to setup a workspace to run gbplanner in simulation.

These instructions assume that ROS desktop-full of the appropriate ROS distro is installed.

Install necessary libraries:

For Ubuntu 18.04 and ROS Melodic:

sudo apt install python-catkin-tools \
libgoogle-glog-dev \
ros-melodic-joy \
ros-melodic-twist-mux \
ros-melodic-interactive-marker-twist-server

For Ubuntu 20.04 and ROS Noetic:

sudo apt install python3-catkin-tools \
libgoogle-glog-dev \
ros-noetic-joy \
ros-noetic-twist-mux \
ros-noetic-interactive-marker-twist-server

Clone and install necessary packages:

Create the workspace:

mkdir -p gbplanner2_ws/src/exploration
cd gbplanner2_ws/src/exploration

Clone the planner

git clone git@github.com:ntnu-arl/gbplanner_ros.git

Clone and update the required packages:

cd <path/to/gbplanner2_ws>
wstool init
wstool merge ./src/exploration/gbplanner_ros/packages_ssh.rosinstall
wstool update

Build:

catkin config -DCMAKE_BUILD_TYPE=Release
catkin build