sample_drl_planner

A path planning framework based on Sampling-based algorithm and Deep Reinforcement learning.

Platform

interface	version
ubuntu	18.04
ros	melodic
pytorch	1.4.0

Installation

ROS melodic

refer to here

Cmake version 3.5 or above

OMPL 1.5.2

Install dependence

sudo apt install libboost-dev libeigen3-dev pkg-config
sudo pip install numpy pyplusplus flask celery fcl

Install OMPL

refer to here

Anaconda

refer to here

virtual environment

create env

conda create -n my_env python=2.7
conda activate my_env

update pip

pip install --upgrade pip

install dependence

pip install requirements.txt

Building pkg

create workspace

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
catkin_init_workspace

Download this project and put it into src.

cd ..
catkin_make

Run Samples

train

roslaunch my_simple_planner train_env.launch
rosrun my_simple_planner train.py

test

roslaunch my_simple_planner test_env.launch
rosrun my_simple_planner test.py