search

reiniscimurs / GDAE

A goal-driven autonomous exploration through deep reinforcement learning (ICRA 2022) system that combines reactive and planned robot navigation in unknown environments
110 stars 15 forks source link

Problem with global planning #16

Open oycool opened 4 months ago

oycool commented 4 months ago

Hi Reinis Cimurs, first of all, thank you very much for sharing. I have a question about this program. Does this program include local planning and global planning?

reiniscimurs commented 4 months ago

Global planning is executed via POI and their generation is part of this program. While heuristics exist here, they should be taken from the heuristics repo.

Local planning is executed via DRL policy that outputs an action which is used as input in the step function.

oycool commented 4 months ago

Thanks for your clear answer. Can you guide me on how to generate the topic /move_base/TrajectoryPlannerROS/global_plan that generates the trajectory?

reiniscimurs commented 4 months ago

The trajectory generation is already in the code here. I think what would help better is following some move_base tutorials to understand it better. http://wiki.ros.org/move_base I don't have much more information that i could provide that is not already in the code.

oycool commented 4 months ago

Where is this subscribed topic published?self.path = rospy.Subscriber('/move_base/TrajectoryPlannerROS/global_plan', Path, self.path_callback, queue_size=1)

reiniscimurs commented 4 months ago

You have to create your navigation stack and publish it: http://wiki.ros.org/navigation/Tutorials/RobotSetup

oycool commented 4 months ago

Hi Reinis Cimurs,I have a question to ask you. https://github.com/reiniscimurs/GDAE/blob/main/Code/GDAM_env.py#L226-L235 In these lines of code, is original_goal in the map coordinate system converted to the odom coordinate system?

reiniscimurs commented 4 months ago

odom and map frames drift over time so you need to update the goal position in regards to this drift in odom frame. I do not recall the details but I think you are correct that goal is updated to fit the odom frame.

oycool commented 4 months ago

https://github.com/reiniscimurs/GDAE/blob/main/Code/GDAM_env.py#L626 Hi, what points are stored in the map_nodes? Does it have anything to do with POI?

reiniscimurs commented 3 months ago

map_nodes store immediate positions for laser at certain distance to see how it "maps" the environment. They are not used for POI and are used for debugging.