1. First create a workspace according to the requirements, copy the first chapter folder src to the workspace folder catkin_ws
2. Initialize the workspace under the current src folder: catkin_inite_workspace
3. To compile the current folder, you need to enter catkin_ws first: cd .. and then compile: catkin_make
4. Open rviz. Before executing rviz, you need roscore to open ros, and then open a new window. First, save the working path source devel/setup.bash, and then execute rviz.
5. Open the map, open the file in the upper left corner, and then open the map at the following address:
The rviz after opening the map is as follows:
6. Load the map and execute the command
source devel/setup.bash
roslaunch grid_path_searcher demo.launch
Finished, you can use the shortcut key G to select the target point.