A path planning framework based on Sampling-based algorithm and Deep Reinforcement learning.
| interface | version |
|---|---|
| ubuntu | 18.04 |
| ros | melodic |
| pytorch | 1.4.0 |
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
React
Typescript
Django
Laravel
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Alibaba
D3
Tencent