TRAIL

TRAIL is a DRL-VO navigation approach created at Temple University with the BARN challenge in mind.
This repository contains the TRAIL policy modified to function within arena-rosnav platform.
Original repository can be found here

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 

Usage

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

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

For more details regarding usage, please refer to our documentation