Dual-Stage Viewpoint Planner 包含两个阶段：探索阶段用于扩展地图边界，重定位阶段用于 explicitly 把机器人传到环境中不同的子区域。探索阶段采用RRT，并动态地扩展RRT over replanning steps. 重定位阶段维护一个graph结构 through the mapped environment. 在探索过程中，算法在两个阶段来回切换，以探索整个环境。

dsvp_launch 的使用

sudo apt update
sudo apt install ros-melodic-octomap-ros libgoogle-glog-dev libgflags-dev
# 取melodic分支
git clone https://github.com/HongbiaoZ/dsv_planner.git

编译结束后，运行

# 车库仿真环境，可以换成其他的
roslaunch vehicle_simulator system_garage.launch
roslaunch dsvp_launch explore_garage.launch

然后是Matterport3D环境的配置，先跳过：To run DSV Planner in a Matterport3D environment, follow instructions to setup the development environment to use the Matterport3D environment. Then, use the command lines below to launch the system and DSV Planner.

roslaunch vehicle_simulator system_matterport.launch
roslaunch dsvp_launch explore_matterport.launch