1. 创建field在github上拉取fields2cover.https://github.com/Fields2Cover/Fields2Covercd ~/fields2cover/src git clone https://github.com/Fields2Cover/Fields2Cover.git2. Ubuntu22.04 ros2_Humble系统的编译和安装。sudo apt update sudo apt install \ libgdal-dev \ libeigen3-dev \ libgeos-dev \ libtbb-dev \ libtinyxml2-dev \ cmake \ build-essential colcon build若编译失败则用cmake编译。cd ~/fields2cover/src/Fields2Cover rm -rf build mkdir build cd build cmake .. \ -DBUILD_TPON \ -DBUILD_TESTSOFF \ -DBUILD_EXAMPLESOFF \ -DCMAKE_INSTALL_PREFIX/usr/local make -j$(nproc) sudo make install sudo ldconfig3. 该代码并没有一键启动的launch, 因为该代码相当于一个函数库需要自己编写代码(具体代码已上传github, https://github.com/2003-Ollie/how-to-use-Fields2Cover)调用该库函数。我新建了一个工作空间coverage_ws,可通过一下命令一键创建工作空间并添加基础的依赖包。cd ~/coverage_ws/src ros2 pkg create --build-type ament_cmake f2c_nav2_bridge \ --dependencies rclcpp nav2_msgs geometry_msgs tf2_ros tf2_geometry_msgs