Learning from Learned Hallucination

This repository contains the implementation of LfLH adapted for usage in arena-rosnav platform.
For more information about LfLH refer to information presented by the authors at UTexas here or here

Please note LfLH is appropriate for usage on only the Jackal platform.

Installation

Activate poetry shell

cd ~/catkin_ws/src/arena-rosnav # Navigate to your arena-bench location
poetry shell

Make sure to source the workspace environment

cd ../.. # navigate to the catkin_ws directory
catkin_make
source devel/setup.zsh # if you use bash: source devel/setup.bash 

Install Python dependencies

roscd LfH
pip install -r requirements.txt # Make sure your virtual environment is activated

Usage

This planner can be chosen using the local_planner argument like so:

roslaunch arena_bringup start_arena.launch local_planner:=lflh # Make sure that your virtual env/poetry is activated

For more details regarding usage, please refer to our documentation