Fusion of Learning-based Navigation with Classical Planning.
This work is a collaboration with Ian Miller and Laura Jarin-Lipschitz. As part of CIS700 with Professor Dinesh Jayaraman at Penn GRASP.
Our proposed method combines the long-term and long-range memory of traditional SLAM and global planners while benefiting from the increased semantic agility of a learned system. This repository contains ROS related and pytorch work for running a Unity simulator with a Clearpath Husky for data collection of a ground truth planner that is aware of "flexible/traversable" obstacles as well as a naive one.
https://www.patrickmin.com/binvox/
sudo apt-get install octomap-tools
- unity binary or editor
roslaunch arl_unity_ros_ground simulator_with_husky_nolidar.launch
roslaunch sim_launch sim_with_ground_truth.launch