ntnu-arl/gbplanner_ros ? reverse-engineered prompt

Build me the Graph based Exploration Planner 2.0 project so I can run the underground exploration demos in ROS.

I want a workspace that installs and builds cleanly, then lets me launch the planner in simulation for both the aerial robot demo and the ground robot demo. The app should show the map and planner state in RViz, and the UI controls should work so I can trigger exploration and watch the robot plan its path. If there are any tricky dependencies or simulator assets needed, set things up so the build and launch steps are clear and reliable. If you need to check current ROS docs or package install instructions online, go ahead.

Make sure the repo is organized so the planner, ROS messages, control interface, gazebo simulation, and UI pieces all work together as one demo. I’d like the end result to feel like a ready to run robotics project, not just source code.