环境配置

编译时，如果有报关于pcl的错误，应修改CMakeLists文件，设定C++的最低版本：

set(CMAKE_CXX_STANDARD 14)

A solution to the error 'xxx' is not a member of 'PCL:: traits' when ROS compiles with a custom global path planner

运行

创建工作空间并拷贝相应功能包后，在src/grid_path_searcher/launch/demo.launch中，加一行

<node pkg="rviz" type="rviz" name="rivz" args="-d $(find grid_path_searcher)/launch/rviz_config/demo.rviz" />

然后运行此launch文件：

Trouble shooting

使用noetic版本ROS可能遇到加载不出点云的问题。The problem is Noetic is more sensible to symbols like the "/" before a frame_id. Therefore, the "/" should be removed in cpp files and compiled again. Furthermore, to compile on Ubuntu 20 It is necessary to change c++ to 14.

解决方法：打开grid_path_searcher/src/demo_node.cpp，搜索定位到world，将/world改为world