all_in_one

This repository contains the results of work presented in All-in-One: A DRL-based Control Switch Combining State-of-the-art Navigation Planners. The All-In-One Planner (AIO) chooses from a given list of local planners in each iteration with the objective to combine the strengths of learning-based planners and classical planners like TEB / MPC.

This code is intended for usage with Arena-Rosnav infrastructure. For more information regarding AIO please refer to the original repository.

Currently we offer a control policy for 4 different robot models:

• Turtlebot3 Burger
• Jackal
• Robotino
• Youbot

Installation

Activate poetry shell

cd ~/catkin_ws/src/arena-rosnav # Navigate to your arena-bench location
poetry shell

Make sure to source the workspace environment

cd ../.. # navigate to the catkin_ws directory
catkin_make
source devel/setup.zsh # if you use bash: source devel/setup.bash 

Usage

This planner can be chosen using the local_planner argument like so:

roslaunch arena_bringup start_arena.launch local_planner:=aio # Make sure that your virtual env/poetry is activated

For more details regarding usage, please refer to our documentation