P9-SLAM-RL

Ubuntu 20.04

ROS Noetic

Gazebo 11.3.0

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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

Performance after 2000 epsiodes

A video can be found at: https://youtu.be/u79M53lfclU