源码github链接：https://github.com/ipa320/ipa_coverage_planning

一、安装

1. 下载源码：git clone -b melodic_dev https://github.com/ipa320/ipa_coverage_planning.git
2. 在ipa_coverage_planning-melodic_dev目录中新建src目录，并将所有包放入src目录中
3. 安装依赖：sudo apt install ros-melodic-libdlib ros-melodic-opengm ros-melodic-cob-navigation coinor-*
4. 在ipa_coverage_planning-melodic_dev目录中编译：catkin_make -DCATKIN_WHITELIST_PACKAGES="ipa_building_msgs;ipa_building_navigation;ipa_room_exploration"

二、测试安装

1. 新建终端，运行roscore
2. 在ipa_coverage_planning-melodic_dev目录新建第二个终端，source devel/setup.zsh后运行rosrun ipa_room_exploration room_exploration_server
3. 在ipa_coverage_planning-melodic_dev目录新建第三个终端source devel/setup.zsh后运行rosrun ipa_room_exploration room_exploration_client
4. 运行成功
   

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