② Path Planning: Employ the generated PGM maps as prior global maps to improve the efficiency and accuracy of path planning algorithms. <br  />
</p>
<p>③ Challenging Environments: Use this project to generate high-quality global maps in environments where SLAM algorithms may struggle or are impractical to deploy.</p>
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(3) Testing Environment</h1>
<p><b>Ubuntu 20.04, ROS Noetic, Boost 1.71，Gazebo 11, C++ 17</b></p>
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