全覆盖规划算法Coverage Path Planning开源代码ipa_coverage_planning编译

论文Indoor_Coverage_Path_Planning_Survey_Implementation_Analysis
代码地址
https://github.com/ipa320/ipa_coverage_planning

catkin_make
#中间会有缺少ros 模块包根据编译出错安装包
sudo apt-get install ros-版本-报错后面提示缺少包
sudo apt-get install ros-kinetic-opengm
sudo apt-get install ros-kinetic-libdlib
sudo apt-get install ros-kinetic-cob-navigation
#只编译 ipa_room_exploration模块，就按照下面命令编译
catkin_make -DCATKIN_WHITELIST_PACKAGES="ipa_building_msgs;ipa_building_navigation;ipa_room_exploration"

问题1

cob_map_accessibility_analysis

出现

 Could not find the required component 'cob_map_accessibility_analysis'

sudo apt-get install ros-kinetic-cob-navigation

出现没有找到Gurobi
把所有的Gurobi注释掉

注释掉出现

 No package 'coinutils' found

sudo apt-get install coinor-*

catkin_make -DCATKIN_WHITELIST_PACKAGES="ipa_building_msgs;ipa_building_navigation;ipa_room_exploration"

这样cmake 不编译ipa_room_segmentation就可以通过了

加入ipa_room_segmentation模块编译，会报错误，在ipa_room_segmentation 模块的CmakeList.txt文件中加入
add_compile_options(-std=c++11)
全部能编译通过了

运行

source ./devel/setup.bash
rosrun ipa_room_exploration room_exploration_server
#Ctrl+Alt+T
#第二个终端
source ./devel/setup.bash
rosrun ipa_room_exploration room_exploration_client

https://blog.csdn.net/weixin_42179076/article/details/121164350