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Navigation Python

Example path planners and controllers. To run simulations on them, I had to define a vehicle, vehicle models and a simulation environment.

Install

  1. Clone this repository.
  2. Install Docker.
  3. Build the Docker container: make build

Use

To run a simulation which uses predefined values, run

make run_simulation

To run a GUI which allows modifying the waypoints/planner/controller, run

make run_gui

image

Customization

  • The entry file for the non-GUI approach is run_simulation.py, which is where e.g. controllers can be swapped for others.
  • All user-defined parameters are included in parameters.yml.
  • To add new waypoints, create a .txt file in data/waypoints (it will be shown in the GUI).
  • To add new references, create a .txt file in data/references (it will be shown in the GUI as part of the FixedReferencePlanner options).

Note: The simulation can run only with a referencesX.txt file if the FixedReferencePlanner is selected. For other planners, please include a waypointsX.txt file instead.