Shuijing725/CrowdNav_DSRNN

run on turtlebot2

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asialulu commented

hi,
I'm very interested in experiments on robots. What do I need to do to run on robots?
Thank you!

Shuijing725 commented

Hi asialulu,

There are several pieces that are needed to fill the sim2real gap:

  1. Use sensors to detect the positions of people;
  2. Track the ID of each detected person so that they are in a consistent order, and feed the positions of tracked people into the observation of the RL network;
  3. The robot state can be obtained by running SLAM;
  4. Use a more realistic robot dynamics, such as unicycle (set action_space.kinematics = "unicycle" in crowd_nav/configs/config.py). However, the true dynamics depend on the robot you are using.

Hope it helps!