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RIVeR-Lab / tentabot

Tentabot: Navigation Framework for Mobile Robots by Evaluating Motion Primitives (Tentacles)
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Test script for TEB algorithm #3

Open AbelSyx opened 1 year ago

AbelSyx commented 1 year ago

Hi @akmandor , I noticed that the TEB algorithm was used as a comparative experiment in this paper, so I would like to ask if the code includes a test script similar to the tentabot_DRL algorithm? It can automatically set the target points and save the navigation success rate, time, and path length. In fact, I haven't discovered it yet. Thank you for your work and look forward to your reply. Thank you!

akmandor commented 1 year ago

Hi @AbelSyx and sorry for my late reply (it was a hectic week...). I have just added the launch file that calls the TEB algorithm, as we used to compare with our method.

Unfortunately, nowadays I am highly busy with other works, so I don't have time to integrate that into our framework (which would be much easier to use it in different environments and with different robots). However, I will definitely consider that feature as a future work.

For now, please use that launch file (you can just launch it, without launching the framework, and send the goal command using Rviz's "2D Nav Goal" interface) as a working reference for the turtlebot3.