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Hi~ When catkin_make is commanded for compile as the README.md, The following build error (and similar errors) happens:

/home/user/catkin_ws/src/MLMapping/src/independent_modules/repub_rec.cpp:6:10: fatal error: nav_msgs/Odometry.h: No such file or directory
 #include "nav_msgs/Odometry.h"
          ^~~~~~~~~~~~~~~~~~~~~
compilation terminated.

In file included from /home/user/catkin_ws/src/MLMapping/src/node_visualization.cpp:7:0:
/home/user/catkin_ws/src/MLMapping/src/rviz_vis.h:8:10: fatal error: visualization_msgs/Marker.h: No such file or directory
 #include <visualization_msgs/Marker.h>
          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

...and so on...

Build environment: Ubuntu 18.04, ROS Melodic

After running E2ES and FLVIS, when i ran roslaunch e2es glmapping.launch. Its showing the following error. I tried using both glmapping and mlmapping, same error for both. In Rviz, in glmapping subsection in Displays, it shows no map recieved in 2D_GridMap. Pic uploaded.

ERROR - Failed to load nodelet [/glmapping_GlobalMapNodeletClass_loader] of type [glmapping/GlobalMapNodeletClass] even after refreshing the cache: According to the loaded plugin descriptions the class glmapping/GlobalMapNodeletClass with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet flvis/LocalMapNodeletClass flvis/LoopClosingNodeletClass flvis/TrackingNodeletClass image_view/disparity image_view/image mlmapping/AwarenessMapNodeletClass mlmapping/LocalMapNodeletClass octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[ERROR] [1627301040.355256204]: The error before refreshing the cache was: According to the loaded plugin descriptions the class glmapping/GlobalMapNodeletClass with base class type nodelet::Nodelet does not exist. Declared types are SlamGMappingNodelet flvis/LocalMapNodeletClass flvis/LoopClosingNodeletClass flvis/TrackingNodeletClass image_view/disparity image_view/image mlmapping/AwarenessMapNodeletClass mlmapping/LocalMapNodeletClass octomap_color_server/OctomapServerNodelet octomap_server/OctomapServerNodelet pcl/BAGReader pcl/BoundaryEstimation pcl/ConvexHull2D pcl/CropBox pcl/EuclideanClusterExtraction pcl/ExtractIndices pcl/ExtractPolygonalPrismData pcl/FPFHEstimation pcl/FPFHEstimationOMP pcl/MomentInvariantsEstimation pcl/MovingLeastSquares pcl/NodeletDEMUX pcl/NodeletMUX pcl/NormalEstimation pcl/NormalEstimationOMP pcl/NormalEstimationTBB pcl/PCDReader pcl/PCDWriter pcl/PFHEstimation pcl/PassThrough pcl/PointCloudConcatenateDataSynchronizer pcl/PointCloudConcatenateFieldsSynchronizer pcl/PrincipalCurvaturesEstimation pcl/ProjectInliers pcl/RadiusOutlierRemoval pcl/SACSegmentation pcl/SACSegmentationFromNormals pcl/SHOTEstimation pcl/SHOTEstimationOMP pcl/SegmentDifferences pcl/StatisticalOutlierRemoval pcl/VFHEstimation pcl/VoxelGrid
[FATAL] [1627301040.355431370]: Failed to load nodelet '/glmapping_GlobalMapNodeletClass_loaderof typeglmapping/GlobalMapNodeletClassto managerglmapping_nodelet_manager'
[glmapping_GlobalMapNodeletClass_loader-3] process has died [pid 8722, exit code 255, cmd bash -c sleep 1; $0 $@ /opt/ros/melodic/lib/nodelet/nodelet load glmapping/GlobalMapNodeletClass glmapping_nodelet_manager __name:=glmapping_GlobalMapNodeletClass_loader __log:=/home/ashd/.ros/log/118e0b9e-ee03-11eb-923a-30d16befe015/glmapping_GlobalMapNodeletClass_loader-3.log].
log file: /home/ashd/.ros/log/118e0b9e-ee03-11eb-923a-30d16befe015/glmapping_GlobalMapNodeletClass_loader-3*.log

Hello, Thank you for contribution!

I found a small mistype in README.md.

Wrong:
cd catkin_ws/src/glmapping/3rdPartLib/
./install3rdPartLib.sh

Correct:
cd catkin_ws/src/MLMapping/3rdPartLib/
./install3rdPartLib.sh

Would this mapping method work with large scale maps?
E.g. I want to import a 1000m * 200m * 100m maps with several buildings (based on existing photogrammetry model) and the use the mapping system to update it with realtime observed data?

I started e2es ros package, and it works fine.

wkyoun@wkyoun:~/catkin_ws/src/E2ES$ ./sim.sh

Then, I tried to run the following lauch file, and I get the following error.

(However, mlmapping works correctly with RosBag files (corridor.bag))

wkyoun@wkyoun:~/catkin_ws/src/E2ES$ roslaunch mlmapping mlmapping_gazebo.launch

... logging to /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/roslaunch-wkyoun-6256.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://wkyoun:43475/

SUMMARY
========

PARAMETERS
 * /mlmapping_configfile: /home/wkyoun/catk...
 * /mlmapping_nodelet_manager/num_worker_threads: 4
 * /rosdistro: melodic
 * /rosversion: 1.14.11
 * /use_sim_time: True

NODES
  /
    awareness_loader (nodelet/nodelet)
    localmap_loader (nodelet/nodelet)
    mlmapping_nodelet_manager (nodelet/nodelet)
    visualization (mlmapping/visualization)

ROS_MASTER_URI=http://localhost:11311

process[visualization-1]: started with pid [6282]
process[mlmapping_nodelet_manager-2]: started with pid [6283]
process[awareness_loader-3]: started with pid [6285]
localmap discretization to n_Rho: 40  n_Phi:180  n_Z:51
process[localmap_loader-4]: started with pid [6291]
[ INFO] [1628473331.601150937]: Loading nodelet /localmap_loader of type mlmapping/LocalMapNodeletClass to manager mlmapping_nodelet_manager with the following remappings:
[ INFO] [1628473331.601465233]: Initializing nodelet with 4 worker threads.
globalmapnode:
read the config file
awareness map contain 367200 cells
local map contain 2041875 cells
esdf map
esdf map init finished~
local map contain 2041875 cells
[ INFO] [1628473332.593471227]: Loading nodelet /awareness_loader of type mlmapping/AwarenessMapNodeletClass to manager mlmapping_nodelet_manager with the following remappings:
[ INFO] [1628473332.594161250]: /mlmapping/pc -> /camera/depth/color/points
[ INFO] [1628473332.594178012]: /mlmapping/pose -> /mavros/local_position/pose
awareness map node:
config file path: /home/wkyoun/catkin_ws/src/MLMapping/launch/config/config.yaml
localmap discretization to n_Rho: 40  n_Phi:180  n_Z:51
awareness map contain 367200 cells
ApproxSyncPolicy
_/opt/ros/melodic/lib/nodelet/nodelet: symbol lookup error: /home/wkyoun/catkin_ws/devel/lib//libmlmapping.so: undefined symbol: _ZN3pcl23removeNaNFromPointCloudINS_8PointXYZEEEvRKNS_10PointCloudIT_EERS4_RSt6vectorIiSaIiEE_
[mlmapping_nodelet_manager-2] process has died [pid 6283, exit code 127, cmd /opt/ros/melodic/lib/nodelet/nodelet manager __name:=mlmapping_nodelet_manager __log:=/home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/mlmapping_nodelet_manager-2.log].
log file: /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/mlmapping_nodelet_manager-2*.log
[ INFO] [1628473342.742857020, 1767.087000000]: Bond broken, exiting
[awareness_loader-3] process has finished cleanly
log file: /home/wkyoun/.ros/log/493a0752-f8b0-11eb-a27a-f83441d19d8b/awareness_loader-3*.log
'''

mlmapping_gazebo.launch is as follows:

<node pkg="mlmapping" type="visualization" name="visualization" output="screen" />

<arg name="node_start_delay"  default="1.0" />
<param name="/mlmapping_configfile" type="string" value="$(find mlmapping)/launch/config/config.yaml"/>

<!-- Manager -->
<node pkg="nodelet" type="nodelet"
      name="mlmapping_nodelet_manager" args="manager" output="screen">
      <param name="num_worker_threads" value="4" />
</node>

<node pkg="nodelet" type="nodelet" args="load mlmapping/AwarenessMapNodeletClass mlmapping_nodelet_manager"
    name="awareness_loader" output="screen"
    launch-prefix="bash -c 'sleep 1; $0 $@' ">
    <remap from="/mlmapping/pc"          to="/camera/depth/color/points"/>
    <remap from="/mlmapping/pose"        to="/mavros/local_position/pose"/>
</node>

<node pkg="nodelet" type="nodelet" args="load mlmapping/LocalMapNodeletClass mlmapping_nodelet_manager"
    name="localmap_loader" output="screen">
</node>

Any update on how to use Fuxi Planner with the output from MLMapping?
Since in MLMapping paper, it was mentioned that Fuxi Planner is used for the path planning.

Or is there any recommended planner that is suitable with the output provided by MLMapping?