There are several references to the folder "path_planning_utils" in the code, but I can't seem to find the folder, and I'm not sure if it's just me! But it doesn't seem to affect how the project compiles and runs.

[Maxianzhai]

Hi,Huang. There are several references to the folder "path_planning_utils" in the code, but I can't seem to find the folder, and I'm not sure if it's just me! But it doesn't seem to affect how the project compiles and runs.
Here are the code files that I think are problematic
PNGNav/src/png_navigation/src/png_navigation/path_planning_classes/nirrt_star_png_c_2d.py
PNGNav/src/png_navigation/src/png_navigation/datasets/planning_problem_utils_2d.py
PNGNav/src/png_navigation/src/png_navigation/datasets/rectangle_env_2d.py

[tedhuang96]

Hi, thank you for pointing this out! You are right that path_planning_utils/ is not included in this repo. Since I first built training/evaluation scripts for NIRRT*, and then built png_navigation ROS package by moving part of scripts here, there will be some inconsistency on the code. The files you pointed out here are used in NIRRT*, but not used in PNGNav.

To explain each file,

1. PNGNav/src/png_navigation/src/png_navigation/path_planning_classes/nirrt_star_png_c_2d.py

nirrt_star_png_c_2d.py is the source file for NIRRT* with Point-based Network Guidance with Neural Connect. We did not use this file in png_navigation, because in nirrt_star_c.launch, this is done by these two ROS node files

PNGNav/src/png_navigation/launch/nirrt_star_c.launch

Lines 4 to 5 in d7f8a4d

	<node pkg="png_navigation" name="nirrt_star_node" type="nirrt_star_node.py" output="screen" />
	<node pkg="png_navigation" name="nirrt_star_c_neural_wrapper_node" type="nirrt_star_c_neural_wrapper_node.py" output="screen" />

which just needs to import nirrt_star_png_2d.

PNGNav/src/png_navigation/scripts/nirrt_star_node.py

Line 8 in d7f8a4d

from png_navigation.path_planning_classes.nirrt_star_png_2d import get_path_planner

2. PNGNav/src/png_navigation/src/png_navigation/datasets/planning_problem_utils_2d.py
   This is a file used in evaluation of each path planning method in simulation experiments.

3. PNGNav/src/png_navigation/src/png_navigation/datasets/rectangle_env_2d.py
   This is a file used for generating the raw data for random world (2D) simulation experiments.

path_planning_utils will be included in NIRRT*. Also note that the files mentioned here may be renamed since we have been organizing/cleaning the code for open sourcing NIRRT*.

I will check and clean these deprecated files in the next commit. Thank you for pointing them out!

[tedhuang96]

623e3e5
https://github.com/tedhuang96/PNGNav/releases/tag/v1.0.1