sample_drl_planner

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

Platform

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