DynamicMPNet

This repository aims to document the setup and usage of the Dynamic MPNet Planner for the purpose of robot navigation.

Dependencies

The planner was tested on a Docker Container with the following specifications.

1. ROS-Melodic
2. LibTorch Build Version 1.5.1
3. OMPL v1.4.2
4. CUDA Version 10.2
5. mit-racecar simulator

Package Installation

Git clone the package your catkin workspace.

cd ~/catkin_ws/src
git clone https://github.com/jacobjj/mpnet_local_planner.git

More instructions to come.

Running the simulation

roslaunch mpnet_plan simulate_mpnet.launch

This should spawn off an instance of RViz, where you can set the 2D Nav Goal and see the mpnet planner at work!