Requirements: Ubuntu 20.04, ROS-Noetic
Compilation
cd ~/field_vis_ws
catkin_make
Running the code
field visualization
source ~/field_vis_ws/devel/setup.bash
roslaunch field_vis field_vis.launch
convergency test
source ~/field_vis_ws/devel/setup.bash
rosrun field_vis lbfgs_test
Modify the file in src/field_vis/launch/field_vis.launch to visualize different formation. 0 for triangle, 1 for square, 2 for star, 3 for hexagon.