ego-planner+PX4自定义控制器V1版本(告别PX4Ctrl）,这玩意用在ego上就是把简单转化复杂，具象转化抽象，吊用没有， 规划也是，又臭又长，不如CMU的那套无人机规划平台，大道至简，相当nice，我不知道还有什么规划算法能够比它好用了。。 当然了，能开源就很优秀了，这里只是个人的短浅看法
git clone https://gitee.com/Canada-a/cxr_ego_ctrl.gitcd cxr_ego_ctrlcatkin_make
编译完成后去cxr_egoctrl_v1.cpp的代码里面看用法就行，都写到注释里了。
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