NH-ORCA-python

This is a pybind11 version of rvo2.

Based on the python wrapper, a NH-ORCA algorithm is implemented for two-wheeled robots (such as turtlebot) .

Here is the paper.

The wrapper code can be checked as py_wrapper.cpp.

NH Turtlebot control codes can be check under the python folder.

It requires Eigen, openmp, numpy and pygame(for visualization).

Build

Building requires CMake to be installed. python need to be installed with numpy libarary

sudo apt-get install libeigen3-dev 
pip install numpy 
pip install pygame
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
sudo make all
cp pyrvo2*.so ../python

now you have the library in the python folder

Run Simulation

cd python
jupyter
# Then run the rvo2_circle.ipynb

Run On Real TurtleBots

For real use cases, you have to read the topics that in the turtlebot.py.

Each robot of index X receive odom and pose from /turtleX/odom and /vrpn_client_node/turtleX/pose, pushlish control messages (Twist ) to the topic /turtleX/cmd_vel_mux/input/teleop.

cd python
python turtleCtrl.py

Data Saving

First record all data into a ros bag. Then make use of the script bag_to_csv.py for data extraction.

Optimal Reciprocal Collision Avoidance

http://gamma.cs.unc.edu/RVO2/

Copyright 2008 University of North Carolina at Chapel Hill

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Please send all bug reports for the Python wrapper to RVO2-pybind11, and bug report for the RVO2 library itself to [email protected].

The RVO2 authors may be contacted via:

Jur van den Berg, Stephen J. Guy, Jamie Snape, Ming C. Lin, and Dinesh Manocha
Dept. of Computer Science
201 S. Columbia St.
Frederick P. Brooks, Jr. Computer Science Bldg.
Chapel Hill, N.C. 27599-3175
United States of America