Devro

Description

Development tools and utilities for SLAM, including an environment to test your own algorithms, as well as readily usable algorithms for SLAM, path planning and motion planning.

Usage

$ pip install devro

or install from source

$ git clone https://github.com/abnvar/devro/
$ cd devro
$ python3 -m pip install -r requirements.txt
$ python3 -m pip install -e .

Features

1. Environment

   1. Random obstacle generation using Perlin noise

      

   2. API-like interaction.

      lidar = Lidar(*args)                      #
      bot = Bot(*args)                          # initialization
      sim = Simulation(*args)                   #
      
      sim.begin()                               # start sim
      
      bot.setVel(leftVelocity, rightVelocity)   # set wheel velocities
      bot.scan()                                # lidar scan

2. Algorithms

   1. SLAM

      Desciption

   2. Path Planning / Trajectory Planning

      Desciption

   3. Motion Planning

      Desciption

Collaborators

• brunopinto900
• santoshdahal2016
• ObjectionTheory

For Developers

1. Threading
   • Window
     • Thread runs the tkinter display.
     • Interaction:
       • Start: Simulation(visualize = True)
       • Exit: Daemon thread. Exits with end of the main thread.
   • Simulation
     • Thread runs the simpy simulation.
     • Interaction:
       • Start: Simulation()
       • Exit: Daemon thread. Exits with end of the main thread.