/Morse-simulator-exploration

This repository implements Frontier Based Exploration from scratch in Python using the Morse Robot Simulator.

Primary LanguagePythonMIT LicenseMIT

README

Algorithms for frontier Based Exploration In the MORSE Simulator.

Requirements

  1. Ubuntu 18.04
  2. root access

Installation of Dependencies

Before you intall the package, you need to have the Morse-Simulator and compatible Blender installed. I have included a bash file to install these dependencies.

  1. chmod +x ./ubuntu_1804_installation.sh
  2. ./ubuntu_1804_installation.sh

Note that this script creates a virtual environment which has the dependencies for MORSE. To activate this venv,

  1. pipenv shell Alternatively, directly run the files using
  2. pipenv run abc.py this runs the file using pipenv environment.

Test the installation of MORSE

After running the intallation script, run

  1. pipenv run morse check You should not see any errors.

Installation of the Package

Please do this after completing all the above steps. This repository can be installed as a python package by, sudo python setup.py install

TODO

  1. Add install script that installs MORSE simulator with dependencies. [DONE]
  2. Complete the OpenAI Gym wrapper. [DONE]

References

The exploration code is adapted from [https://github.com/braincorp/bc_exploration.git]