run rviz

roslaunch motion_planning_ros rviz.launch

test grid_map

roslaunch motion_planning_ros gridmap_test.launch

test astar with grid map

roslaunch motion_planning_ros astar_search_grid_map_test.launch

test esdf_map

roslaunch motion_planning_ros esdfmap_test.launch

test polynomial_traj

roslaunch motion_planning_ros polynomial_traj_test.launch

reference

https://github.com/tuw-robotics/tuw_multi_robot

https://github.com/amslabtech/dwa_planner

生成complie_commands.json

catkin_make -DCMAKE_EXPORT_COMPILE_COMMANDS=1

添加complie_commands.json

"compileCommands": "${workspaceFolder}/build/compile_commands.json"