Development Setup

Make a new folder for the ROS2 workspace and make a src folder inside. cd into the src folder and then:
git clone --recurse-submodules {repo_url}
sudo apt install libnlopt-dev
sudo apt install libnlopt-cxx-dev Clone cev_msgs

Then cd back to the workspace root and colcon build.

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Running

In the workspace root:
source install/setup.bash
ros2 launch cev_planner_ros2 launch.py