/mpdrl_ros

Primary LanguageC++

mpdrl-ros

Build Status

prerequisite

You need to convert your PyTorch Model to Torch Script by tracing. watch here

If you want to use pointcloud as input, you have to install pointcloud_to_laserscan package.

$ sudo apt-get install ros-{distro}-pointcloud-to-laserscan

How to use

  • /local_map (nav_msgs::OccupancyGrid)
$ roslaunch mpdrl local_planner_with_localmap.launch
  • /scan (sensor_msgs::LaserScan)
$ roslaunch mpdrl local_planner.launch
  • /velodyne_obstacles (sensor_msgs::PointCloud2)
$ roslaunch mpdrl local_planner_with_pointcloud.launch

published topics

  • /cmd_vel(geometry_msgs::Twist)

subscribed topics

  • /local_goal(geometry_msgs::PoseStamped)

  • /local_map(nav_msgs::OccupancyGrid)

  • /scan (sensor_msgs::LaserScan)

  • /velodyne_obstacles (sensor_msgs::PointCloud2)