Fiesta:配置、运行及其结果

git:
https://github.com/HKUST-Aerial-Robotics/FIESTA
配置：

Note: C++ 17 is required to run FIESTA. Please install and configure C++ 17.

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install gcc-7 g++-7
use the following command to check your gcc compilers

ls -lh /usr/bin/g++

for ubuntu 16.04:

  sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-5 60 --slave /usr/bin/g++ g++ /usr/bin/g++-5

then

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 70 --slave /usr/bin/g++ g++ /usr/bin/g++-7

use the folling command to change the default compiler (choose 0 as default)

sudo update-alternatives --config gcc

check your current gcc compiler

gcc --version

下载和编译“

cd ~/catkin_ws/src
git clone https://github.com/hlx1996/Fiesta.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

实例：
运行前需要下载cow_and_lady数据包，很大，有4.5G。

roslaunch fiesta cow_and_lady.launch


roscore
#到放data.bag的文件夹打开终端：
rosbag play data.bag

结果：