Deep-PANTHER: Learning-Based Perception-Aware Trajectory Planner in Dynamic Environments

Deep-PANTHER deployed on different environments. The policy in all the videos above is the same one, and was trained using an obstacle that followed a trefoil-knot trajectory. The green pyramid represents the field of view of the camera.

Citation

When using Deep-PANTHER, please cite Deep-PANTHER: Learning-Based Perception-Aware Trajectory Planner in Dynamic Environments (pdf and video):

@article{tordesillas2023deep,
  title={{Deep-PANTHER}: Learning-based perception-aware trajectory planner in dynamic environments},
  author={Tordesillas, Jesus and How, Jonathan P},
  journal={IEEE Robotics and Automation Letters},
  year={2023},
  publisher={IEEE}
}

Improvements (January 2024)

This and this pull requests solve the issues that appear with the new versions of gym (gymnasium), Casadi, and Matlab. They also introduce a way to use deep-panther in 2D (and not just 3D). Both pull requests have been merged on the develop branch.

General Setup

Deep-PANTHER has been tested with Ubuntu 20.04/ROS Noetic. Other Ubuntu/ROS version may need some minor modifications, feel free to create an issue if you have any problems.

The instructions below assume that you have ROS Noetic installed on your Linux machine.

Dependencies

Note: the instructions below are partly taken from here

IPOPT

sudo apt-get install gcc g++ gfortran git cmake liblapack-dev pkg-config --install-recommends
sudo apt-get install coinor-libipopt1v5 coinor-libipopt-dev

CasADi

sudo apt-get remove swig swig3.0 swig4.0 #If you don't do this, the compilation of casadi may fail with the error "swig error : Unrecognized option -matlab"
mkdir ~/installations && cd ~/installations
git clone https://github.com/jaeandersson/swig
cd swig
git checkout -b matlab-customdoc origin/matlab-customdoc        
sh autogen.sh
sudo apt-get install gcc-7 g++-7 bison byacc
sudo apt-get install libpcre3 libpcre3-dev
./configure CXX=g++-7 CC=gcc-7            
make
sudo make install


cd ~/installations && mkdir casadi && cd casadi
git clone https://github.com/casadi/casadi
cd casadi 
#cd build && make clean && cd .. && rm -rf build #Only if you want to clean any previous installation/compilation 
mkdir build && cd build
cmake . -DCMAKE_BUILD_TYPE=Release -DWITH_IPOPT=ON -DWITH_MATLAB=OFF -DWITH_PYTHON=ON -DWITH_DEEPBIND=ON ..
#You may need to run the command above twice until the output says that `Ipopt` has been detected (although `IPOPT` is also being detected when you run it for the first time)
make -j20
sudo make install

Virtual Python environment

sudo apt-get install python3-venv
cd ~/installations && mkdir venvs_python && cd venvs_python 
python3 -m venv ./my_venv
printf '\nalias activate_my_venv="source ~/installations/venvs_python/my_venv/bin/activate"' >> ~/.bashrc
source ~/.bashrc
activate_my_venv

Compilation

And finally download the repo and compile it:

sudo apt-get install git-lfs ccache 
cd ~/Desktop/
mkdir ws && cd ws && mkdir src && cd src
git clone https://github.com/mit-acl/deep_panther
cd deep_panther
git lfs install
git submodule init && git submodule update
cd panther_compression/imitation
pip install numpy Cython wheel seals rospkg defusedxml empy pyquaternion pytest
pip install -e .
sudo apt-get install python3-catkin-tools #To use catkin build
sudo apt-get install ros-"${ROS_DISTRO}"-rviz-visual-tools ros-"${ROS_DISTRO}"-pybind11-catkin ros-"${ROS_DISTRO}"-tf2-sensor-msgs ros-"${ROS_DISTRO}"-jsk-rviz-plugins
cd ~/Desktop/ws/
catkin build
printf '\nsource PATH_TO_YOUR_WS/devel/setup.bash' >> ~/.bashrc #Remember to change PATH_TO_YOUR_WS
printf '\nexport PYTHONPATH="${PYTHONPATH}:$(rospack find panther)/../panther_compression"' >> ~/.bashrc 
source ~/.bashrc

Usage

Simply use:

roslaunch panther simulation.launch

Wait until the terminal says Planner initialized. Then, you can press G (or click the option 2D Nav Goal on the top bar of RVIZ) and click any goal for the drone. By default, simulation.launch will use the policy Hung_dynamic_obstacles.pt (which was trained with trefoil-knot trajectories). You can change the trajectory followed by the obstacle during testing using the type_of_obst_traj field of the launch file.

You can also use policies trained using a static obstacle. Simply change the field student_policy_path of simulation.launch. The available policies have the format A_epsilon_B.pt, where A is the algorithm used: Hungarian (i.e., LSA), RWTAc, or RWTAr. B is the epsilon used. Note that this epsilon is irrelevant for the LSA algorithm. Check the paper for further details.

If you want to...

• Use the expert: You first need to install a linear solver (see instructions below). Then, you can use the expert by simply setting use_expert: true, use_student: false , and pause_time_when_replanning:true in panther.yaml and running roslaunch panther simulation.launch.

• Modify the optimization problem:, You will need to have MATLAB installed (especifically, you will need the Symbolic Math Toolbox and the Phased Array System Toolbox installed), and follow the steps detailed in the MATLAB section below. You can then make any modification in the optimization problem by modifying the file main.m, and then running it. This will generate all the necessary .casadi files in the casadi_generated_files folder, which will be read by the C++ code.

• Train the policy: You first need to install a linear solver (see instructions below). Then, you can train a new policy but simply running python3 policy_compression_train.py inside the panther_compression folder.

MATLAB (optional dependency)

First, when installing CasADi following the instructions above, you need to use -DWITH_MATLAB=ON instead of -DWITH_MATLAB=OFF. Then do the following:

#Open MATLAB, and type this:
edit(fullfile(userpath,'startup.m'))
#And in that file, add this line line 
addpath(genpath('/usr/local/matlab/'))

Now, you can restart Matlab (or run the file startup.m), and make sure this works:

import casadi.*
x = MX.sym('x')
disp(jacobian(sin(x),x))

Linear Solver (optional dependency)

Go to http://www.hsl.rl.ac.uk/ipopt/, click on Personal Licence, Source to install the solver MA27 (free for everyone), and fill and submit the form. Once you receive the corresponding email, download the compressed file, uncompress it, and place it in the folder ~/installations (for example). Then execute the following commands:

Note: the instructions below follow this closely

cd ~/installations/coinhsl-2015.06.23
wget http://glaros.dtc.umn.edu/gkhome/fetch/sw/metis/OLD/metis-4.0.3.tar.gz #This is the metis version used in the configure file of coinhsl
tar xvzf metis-4.0.3.tar.gz
#sudo make uninstall && sudo make clean #Only needed if you have installed it before
./configure LIBS="-llapack" --with-blas="-L/usr/lib -lblas" CXXFLAGS="-g -O3 -fopenmp" FCFLAGS="-g -O3 -fopenmp" CFLAGS="-g -O3 -fopenmp" #the output should say `checking for metis to compile... yes`
sudo make install #(the files will go to /usr/local/lib)
cd /usr/local/lib
sudo ln -s libcoinhsl.so libhsl.so #(This creates a symbolic link `libhsl.so` pointing to `libcoinhsl.so`). See https://github.com/casadi/casadi/issues/1437
echo "export LD_LIBRARY_PATH='\${LD_LIBRARY_PATH}:/usr/local/lib'" >> ~/.bashrc

Note

We recommend to use MA27. Alternatively, you can install both MA27 and MA57 by clicking on Coin-HSL Full (Stable) Source (free for academia) in http://www.hsl.rl.ac.uk/ipopt/ and then following the instructions above. Other alternative is to use the default mumps solver (no additional installation required), but its much slower than MA27 or MA57 You can change the linear solver used by changing the name of linear_solver_name in the file main.m and run that file.

Moreover, when using a linear solver different from mumps, you may need to start Matlab from the terminal (typing matlab). More info in this issue.