git clone https://github.com/rst-tu-dortmund/teb_local_planner.git
git checkout <ros版本分支>

git clone https://github.com/rst-tu-dortmund/teb_local_planner_tutorials.git
git checkout <ros版本分支>

sudo apt-get install ros-noetic-stage-ros

git clone -b noetic https://github.com/magazino/move_base_flex.git

sudo apt-get install libsuitesparse-dev

git clone https://github.com/RainerKuemmerle/g2o

git checkout a48ff8c42136f18fbe215b02bfeca48fa0c67507  #切换到老的提交，最近的编译会报错

sudo apt-get install libeigen3-dev libeigen3-doc

编译：
cd g2o
mkdir build
cd build
cmake ../
make && make install