P9-SLAM-RL
Ubuntu 20.04
ROS Noetic
Gazebo 11.3.0
Prerequisites
Install move_base planner
sudo apt install ros-noetic-move-base
Install global planner
sudo apt install ros-noetic-global-planner
Install local planner
sudo apt install ros-noetic-teb-local-planner
Installation
Git clone the repository into your ROS /src folder and catkin_make it
$ git clone https://github.com/Nitrow/P9-SLAM-RL .
$ cd ..
$ catkin_make -DCMAKE_BUILD_TYPE=Release
How to install the gym environment
The repository contains the following gym environment:
- P9-RL-env
To install the environment, go to the P9-RL-env
folder and run the pip install command:
$ cd custom_gym/scripts/P9-RL-env
$ sudo pip3 install -e .
Run learning
Run the simulation
$ roslaunch simulation gazebo.launch
Run the navigation
$ roslaunch navigation navigation.launch
Run the trainer
$ cd custom_gym/scripts/master
$ python3 master.py