配置安装hybrid_astar_planner

先找到一个Linux环境

一、先安装混合A*程序

sudo apt install libompl-dev 

mkdir -p ~/catkin_ws/src 

cd ~/catkin_ws/src
 
git clone https://github.com/dengpw/hybrid_astar_planner.git
  
cd ..

先一条一条指令输入 ，下载主程序包

二、安装ros_map_server依赖

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'

sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654 

sudo apt update

sudo apt install ros-noetic-desktop-full

echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc 

source ~/.bashrc 

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-roslaunch

以上按照命令一条条执行，哪里报错，给我发消息就行

三、安装ompl依赖

sudo apt-get install ros-noetic-ompl*

四、运行主程序

到catkin_ws目录下执行以下命令

catkin_make 
source devel/setup.bash 
rospack profile 

tips:

如果报错

E: Unable to locate package ros-kinetic-costmap-2d

这样解决  sudo apt-get install ros-noetic-costmap-2d    注意不同系统，ros-后面不一样

然后缺啥安装啥