This is the guide to quickly get going with the local motion planning benchmark suite.
- Linux Ubuntu LTS >= 18.04
- Python >3.6, < 3.10
- pip3
- gnuplot (
sudo apt install gnuplot) - [Optional] poetry
- [Optional] embotech forces pro for mpc
You first have to download the repository
git clone git@github.com:maxspahn/localPlannerBench.git
Then, you can install the package using pip as:
pip3 install .
If you want to use poetry, you have
to install it first. See their webpage for instructions
docs. Once poetry is installed, you
can install the virtual environment with the following commands. Note
that during the first installation poetry update takes up to 300 secs.
poetry update
poetry install
The virtual environment is entered by
poetry shell
The following is a very simple example case.
Run an experiments:
Experiments should be added in separate folder in experiments. One
very simple example can be found in this folder. Note that you need to
active your poetry shell if you have installed the package using poetry
by
poetry shell
Then you navigate there by
cd experiments/example
Then the experiment is run with the command line interface
../../plannerbenchmark/exec/runner -c setup/exp.yaml -p pdplanner setup/planner.yaml --render
Postprocessing:
The experiments can be postprocessed using the provide executable. When
using poetry, make sure you are in the virtual environment
(poetry shell)
cd experiments/example
The you can run the post processor with arguments as
../../plannerbenchmark/exec/postProcessor --exp path/to/experiment -k time2Goal pathLength --plot --no-open
More detailed information about this example can be found in the long explaination of the example.