Please change the following your_ws with your own ROS_workspace

• Step1: clone okayplan_ros to your_ws

cd ~/your_ws/src
git clone https://github.com/XinJingHao/okayplan_ros.git

The file structure should be like this:

~/your_ws
  ├── build
  ├── devel
  └── src
      ├── other-packages
      └── okayplan_ros
          ├── FML_Robot
          ├── include
          ...
          ├── CMakeLists.txt
          ├── package.xml
          └── requirements.txt

• Step2: compile your workspace

cd ~/your_ws/src/okayplan_ros/scripts
chmod +x *.py
cd ~/your_ws
catkin_make

If the ros packages listed in the CMakeLists.txt haven't been installed, you need to install them manually by sudo apt install ros-noetic-<package>

• Step3: create an anaconda environment

conda create -n myenv python=3.8.3

• Step4: install python dependencies

cd ~/your_ws/src/okayplan_ros
conda activate myenv
pip3 install -r requirements.txt

Please change the following your_ws with your own ROS_workspace

• Step1: launch the ros simulation platform

echo "source ~/your_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
roslaunch okayplan_ros okayplan_car5.launch

• Step2: run the OkayPlan algorithm

# Open a new terminal
cd ~/your_ws/src/okayplan_ros/Planner_and_Env
conda activate myenv
python main.py

# System related:
  Ubuntu=20.04
  ROS=Noetic
  gazebo=11.11.0
  rviz=1.14.20
  python=3.8.3

# Python related:
# install with **pip3 install -r requirements.txt**
  torch>=2.2.0 # GPU version required!
  torchaudio>=2.2.0
  torchvision>=0.17.0
  matplotlib>=3.7.5
  numpy>=1.24.4
  rospkg>=1.5.0
  rospy>=1.16.0
  catkin_tools>=0.9.4

# ROS packages related:
# install with **sudo apt install ros-noetic-<package>**
  gazebo_plugins
  gazebo_ros
  gazebo_ros_control
  geometry_msgs
  move_base
  roscpp
  rospy
  std_msgs
  tf2
  tf2_geometry_msgs
  tf2_ros
  urdf
  xacro

To cite this repository in publications:

@article{XinOkayPlan,
title = {OkayPlan: Obstacle Kinematics Augmented Dynamic real-time path Planning via particle swarm optimization},
journal = {Ocean Engineering},
volume = {303},
pages = {117841},
year = {2024},
issn = {0029-8018},
doi = {https://doi.org/10.1016/j.oceaneng.2024.117841},
url = {https://www.sciencedirect.com/science/article/pii/S002980182401179X},
author = {Jinghao Xin and Jinwoo Kim and Shengjia Chu and Ning Li},
}