abnvar/devro

Development tools and utilities for SLAM, including an environment to test your own algorithms, as well as readily usable algorithms for SLAM, path planning and motion planning.

Devro

Description

Development tools and utilities for SLAM, including an environment to test your own algorithms, as well as readily usable algorithms for SLAM, path planning and motion planning.

Usage

$ pip install devro

or install from source

$ git clone https://github.com/abnvar/devro/
$ cd devro
$ python3 -m pip install -r requirements.txt
$ python3 -m pip install -e .

Features

1. Environment

   1. Random obstacle generation using Perlin noise

      

   2. API-like interaction.

      lidar = Lidar(*args)                      #
      bot = Bot(*args)                          # initialization
      sim = Simulation(*args)                   #
      
      sim.begin()                               # start sim
      
      bot.setVel(leftVelocity, rightVelocity)   # set wheel velocities
      bot.scan()                                # lidar scan

2. Algorithms

   1. SLAM

      Desciption

   2. Path Planning / Trajectory Planning

      Desciption

   3. Motion Planning

      Desciption

Collaborators

• brunopinto900
• santoshdahal2016
• ObjectionTheory

For Developers

1. Threading
   • Window
     • Thread runs the tkinter display.
     • Interaction:
       • Start: Simulation(visualize = True)
       • Exit: Daemon thread. Exits with end of the main thread.
   • Simulation
     • Thread runs the simpy simulation.
     • Interaction:
       • Start: Simulation()
       • Exit: Daemon thread. Exits with end of the main thread.