Example path planners and controllers. To run simulations on them, I had to define a vehicle, vehicle models and a simulation environment.
- Clone this repository.
- Install Docker.
- Build the Docker container:
make build
To run a simulation which uses predefined values, run
make run_simulation
To run a GUI which allows modifying the waypoints/planner/controller, run
make run_gui
- The entry file for the non-GUI approach is
run_simulation.py, which is where e.g. controllers can be swapped for others. - All user-defined parameters are included in
parameters.yml. - To add new waypoints, create a .txt file in
data/waypoints(it will be shown in the GUI). - To add new references, create a .txt file in
data/references(it will be shown in the GUI as part of the FixedReferencePlanner options).
Note: The simulation can run only with a referencesX.txt file if the FixedReferencePlanner is selected.
For other planners, please include a waypointsX.txt file instead.