Local-Planner

• A ROS package of a SAC-based-autonomous-navigation method
• Use with repository RL-RRT-Global-Planner

Environment

System

• Ubuntu 20.04
• ROS Noetic (robot control, sensor data, communacate with global planner)

Platform

• KUKA youbot / Turtlebot3 Burger

Anaconda Dependencies

• Python 3.6
• pytorch 1.10.2
• opencv-contrib-python 4.0.1.24
• cudatoolkit 11.3.1
• numpy
• rospkg
• yaml

Usage

Environment setting

1. Build a ROS package named rrt_rl_nav
2. Replace with the files in this repository
3. $ catkin_make

Run the test program

Simulation

$ roslaunch rrt_rl_nav sim_set.launch
$ roslaunch rrt_planner global_planner.launch test:=false
## train
$ conda activate torch-gpu
$ python3 ~/rrt_rl_review_ws/src/rrt_rl_nav/script/main.py
## eval
$ conda activate torch-gpu
$ python3 ~/rrt_rl_review_ws/src/rrt_rl_nav/script/main.py --eval

• randomly select start and goal

Real

$ roslaunch rrt_rl_nav real_set.launch
$ roslaunch rrt_planner global_planner.launch test:=false
$ python3 ~/rrt_rl_review_ws/src/rrt_rl_nav/script/main.py --real

• specify start and goal with RViz 2D Nav Goal

Result