参考文章：https://blog.csdn.net/qq_45529538/article/details/131311097
1）下载源码
https://github.com/ipa320/ipa_coverage_planning
2）安装依赖
sudo apt install ros-noetic-libdlib ros-noetic-opengm ros-noetic-cob-navigation coinor-*
3）编译
catkin_make -DCATKIN_WHITELIST_PACKAGES="ipa_building_msgs;ipa_building_navigation;ipa_room_exploration"
4）运行
新建终端，运行roscore
在ipa_coverage_planning-melodic_dev目录新建第二个终端，source devel/setup.bash后运行rosrun ipa_room_exploration room_exploration_server
在ipa_coverage_planning-melodic_dev目录新建第三个终端source devel/setup.bash后运行rosrun ipa_room_exploration room_exploration_client
5)跑其它算法与图片
room_exploration_action_client.cpp中修改
image_path = test_map_path + "***.png";
***.png在ipa_coverage_planning/ipa_room_segmentation/common/files 目录下
drc_exp.setConfig("room_exploration_algorithm", ***);
***在ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server_params.yaml 中的参数中找，只能是1～8之间的正整数
跟维诺图相关的算法还没有跑通，应该要输入一个经过维诺过程预处理的图片