Installation

If you have already went through the installation process of SARL*, you can skip this guide.

Activate poetry shell

cd arena-rosnav # navigate to the arena-rosnav directory
poetry shell

Make sure to source the workspace environment

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

Install RVO2 (make sure SARL* planner is downloaded)

roscd sarl_star_ros
cd ../Python-RVO2
pip install Cython
python setup.py build
python setup.py install

Install Crowdnav dependencies

roscd crowdnav-ros
cd scripts
pip install -e .

Usage

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

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

For more details regarding usage, please refer to our documentation