Getting started

This is the guide to quickly get going with the local motion planning benchmark suite.

Pre-requisites

Installation

You first have to download the repository

git clone git@github.com:maxspahn/localPlannerBench.git

Then, you can install the package using pip as:

pip3 install .

Optional: Installation with poetry

If you want to use poetry, you have to install it first. See their webpage for instructions docs. Once poetry is installed, you can install the virtual environment with the following commands. Note that during the first installation poetry update takes up to 300 secs.

poetry update
poetry install

The virtual environment is entered by

poetry shell

If planners with limited access (fabrics) or required user installation are wanted, their path has to be specified with

poetry add <relative/path/to/fabrics>
poetry add <relative/path/to/acados_template>

Tutorial

The following is a very simple example case.

Run an experiments:

Experiments should be added in separate folder in experiments. One very simple example can be found in this folder. Note that you need to active your poetry shell if you have installed the package using poetry by

poetry shell

Then you navigate there by

cd examples/point_robot

Then the experiment is run with the command line interface

runner -c setup/exp.yaml -p setup/pdplanner.yaml --render

Postprocessing:

The experiments can be postprocessed using the provide executable. When using poetry, make sure you are in the virtual environment (poetry shell)

cd examples/point_robot

The you can run the post processor with arguments as

post_process --exp path/to/experiment -k time2Goal pathLength --plot

More detailed information about this example can be found in Example

Example trajectory