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This folder is currently under construction!

Autonomous Navigation

Behavioural Cloning

Deep Q-Learning

Old Stuff to be Updated

Building

Build Dependencies

Install yarp as shown here http://www.yarp.it/install.html. Install gazebo as shown here http://gazebosim.org/tutorials?tut=install_ubuntu. Install gazebo-yarp-plugins as shown here http://robotology.gitlab.io/docs/gazebo-yarp-plugins/master/install.html.

Add the vehicle to the GAZEBO_MODEL_PATH environment variable. In your bashrc add the line:

export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:<location to path_finding>/path_finding

Build Path Finding

Clone the repository:

git clone --recursive https://github.com/mhubii/path_finding.git

This will also clone the submodule ORB SLAM2. Build ORB SLAM2 as described here https://github.com/raulmur/ORB_SLAM2.git. Next, build path finding:

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make -j8

Run an Example

Start the yarpserver. In a terminal tipe:

yarpserver --write

Open gazebo with root access so that the vehicle plugin can be used to steer the robot with W/A/S/D/LEFT/RIGHT. In another terminal type:

sudo -s
gazebo

Run ORB SLAM2 in a new terminal:

cd bin
./orb_slam