sundyCoder/calibs

A library for collision avoidance

We provide the collision avoidance algorithms like: NH-ORCA, RL-RVO, Heter-CA, TFresh, UTTC, QCQP etc. These algorithms can be executed in the simulation platform with different scenarios, such as circle scenarios, group swap, group crossing, and warehouse scenarios.

How to launch the specific scenarios

export PYTHONPATH=~/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages

roslaunch scenaro/circle_6r_3t.launch  # roslaunch [launch file]

How to run the training script (RL)

export PYTHONPATH=~/catkin_ws/devel/lib/python2.7/dist-packages:/opt/ros/melodic/lib/python2.7/dist-packages

mpiexec -n 8 python2 train.py    

How to execute the collision avoidance algorithm

cd [algorithm folder]
sh run_xxx.sh