This is a GAIL[1] based local navigation planner. This branch is the train branch that uses older version of pytorch so it is compatible with the HelloRIC pc
- ROS2 Foxy
- CUDA 11.4
- Python 3.8.10
- Other python package versions are given in the requirements.txt
There are three packagaes inside this folder which has to be installed. Therefore it is recommended to create a python virtual enviroment(has less issues with ros2 than conda virtual enviroments)
- GailNavigationNetwork pytorch model
- kris_envs gymansium enviroment
- gail_navigation ros2 package
Installation instructions are given in each package README file
[1] J. Ho and S. Ermon, “Generative adversarial imitation learning,” in Advances in Neural Infor- mation Processing Systems, pp. 4565–4573, 2016.