README.md

autonomous_navigation_project_2022w

BARN Challenge in ICRA 2022 as course project

TODO

implement your own navigation algorithms in run.py

Run Simulations

1. 测试导航模块

source devel/setup.sh
python3 src/scripts/run.py --gui --world_idx xxx

2. 单独测试A*路径规划模块

python3 src/scripts/Astar.py

3. 单独测试DWA速度规划模块(可能会发现小车到终点之后冲过头，但此模块仅为仿真，在实际gazebo中导航规划不会出现类似情况)

python3 src/scripts/DWA.py

Acknowledgements

Code references

Kill all process

bash src/clean.sh

ros_jackal.

nav-competition-icra2022.