Isaac-Sim-local-planners-testing

Requirements

• Ensure that you have isaac sim properly installed

Installation

• Ensure you are in your /src directory

git clone https://github.com/Evintjh/Isaac-Sim-local-planners-testing.git
cd ..
catkin_make
source devel/setup.bash

Run simulator

/isaac-sim/python.sh /<your directory>/jackal_launcher.py

Testing dwa planner

roslaunch jackal_navigation odom_navigation_demo.launch

Static obstacle avoidance

python_scripting_dwa_succesful-Trim.mp4

Dynamic obstacle avoidance

dwa_dynamic_obstacle_FINAL.-.Trim.mp4

Testing freespace motion tube / Simplified MPC

roslaunch free_space_motion_tube_ros move_base_free_space.launch

Static obstacle avoidance

freespace_motion_tube_success-Trim.1.mp4

Dynamic obstacle avoidance

freespace_motion_tube_dyn_obs_4_corners-multiple-obs.-.FINAL-TRIM.mp4

Results

• Static obstacle avoidance

  • freespace motion tube is less conservative than DWA
  • freespace motion tube has lower chances of getting stucked at local extrema comapared to DWA

• Dynamic obstacle avoidance

  • freespace motion tube is less reactive & more predictive than DWA planner, allowing smoother navigation