This is Chenhan's uape2.0 planner, which has a mapping module(MLMapping), this version could run on ICUAS competition. While the front-end(Hybrid A*) is not efficient in path searching, further modification is required.

you will need to have the four packages in the workspace as shown in the figure below:

and put them into the src/ folder in your workspace.

$ cd uape_2.0_ws/src/MLMapping/3rdPartLib/

allen:~/uape_2.0_ws/src/MLMapping/3rdPartLib$ ./install3rdPartLib.sh

~/uape_2.0_ws$ catkin_make

allen@allen:~/uape_2.0_ws$ source devel/setup.bash

allen@allen:~/uape_2.0_ws$ roslaunch uape_planner_2 icuas_sim_traj_node.launch

it runs with the docker-Gazebo simulation env provided by ICUAS-2023 competition.

Ros node is shown below:

And the running scene is shown in below