visibility_greedy_planner

This visibility planner is more like a local greedy seach using frointer information. It basically generate a distribution of potential informative score on discretize direction. And then, guide the robot to the direction with the maximum score.

Dependence

Please follow the instruction in dfs_behavior_planner

Launch vb_greedy_planner

roslaunch vb_greedy_planner vb_greedy_planner.launch