Adaptive Planner Parameter Learning from Reinforcement

This repository contains the APPLR navigation approach adapted for usage in arena-rosnav platform.
For original work refer to UTexas and original repository.

Please note APPLR is appropriate for usage on only the Jackal platform.

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:=applr # Make sure that your virtual env/poetry is activated

For more details regarding usage, please refer to our documentation