sudo apt-get install ros-$ROS_DISTRO-costmap-*
sudo apt-get install ros-$ROS_DISTRO-server
sudo apt-get install ros-$ROS_DISTRO-tf
sudo apt-get install libeigen3-dev
sudo apt-get install libgoogle-glog-dev
mkdir -p Corridor_Bspline/src/planning && cd Corridor_Bspline/src/planning
git clone [email protected]:QingZhuanya/corridor_Bspline_optimization.git
cd ../..
catkin_make
source devel/setup.zsh
roslaunch opt_planner run_opt_planner.launch