localPlannerBench

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Ft global planner integration

2

Updates the structure to comply with updates in the dependencies. Integrates ompl as a global planner.

maxspahn

Adds the basic LiDAR fabric planner with an example setup file.

casparvv

Especially in planar cases (mobile robots, cars), it is very useful to have a more involved model of moving obstacles. Therefore, the integration of a social forces model would be...

maxspahn

[Feature Request] Simulate uncertainty of state and observations

1

# 🚀 Feature Request Include customizable uncertainty to help make the benchmarks more representative of real scenarios. ## Motivation At this moment the planner will have access to the ground...

c-salmi

# 🚀 Feature Request Add interface to global planners found in OMPL, that give guidance to the local planners. ## Motivation Global planners like found in OMPL can influence the...

c-salmi

# 🚀 Feature Request Add support for observations in the form of occupancy maps, obstacle semantics, semantic maps, or even direct camera / lidar data. ## Motivation Recent local motion...

c-salmi

# 🚀 Feature Request Include a wrapper to the currently considered state-of-the-art in local motion planning. ## Motivation To gain more attention and traction to localPlannerBench, we should consider implementing...

c-salmi

Version `v.1.0.0` of the package is available on PyPi, but to add a custom planner currently you have to change stuff within the package. Either placing your custom planner in...

c-salmi

Currently the GNUplot scripts within [post_processing](https://github.com/maxspahn/localPlannerBench/tree/main/plannerbenchmark/postProcessing) contains hardcoded names for planners to create proper labels. Ideally this should be parameterized, so any new planner automatically has the right label.

c-salmi

c-salmi