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Is it possible to replace the local planner in the default ROS Navigation stack to one that uses reinforcement learning?

asked 2017-05-15 03:43:17 -0600

Azzu gravatar image

I'm building a driverless car and the current problem is the TEB Local Planner.

I was wondering if it is possible to replace with an RL agent, and whether this has been done before.

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have you found a solution to this?

aarontan gravatar imageaarontan ( 2018-06-08 09:36:58 -0600 )edit

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answered 2017-05-17 21:57:43 -0600

DavidN gravatar image

Definitely possible. You will need to implement a "base local planner plugin" of nav_core::BaseLocalPlanner . You can follow this tutorial to create a plugin ( http://wiki.ros.org/pluginlib/Tutoria... ).

The nav_core::BaseLocalPlanner class has a few pure virtual function so you will have to re-implement them, but basically you just need to implement your planner in the function computeVelocityCommands.

You can also access the costmap_2d object (which is given by the initialize function) so you can perform any logic/algorithm to detect/avoid obstacles.

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Asked: 2017-05-15 03:43:17 -0600

Seen: 284 times

Last updated: May 17 '17