Mentions légales du service

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Commit c70992eb authored by AUTERNAUD Alex's avatar AUTERNAUD Alex
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Update file README.md

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......@@ -38,8 +38,9 @@ This project is the [ROS](https://www.ros.org/) implementation of the Robot Beha
</li>
<li><a href="#usage">Usage</a>
<ul>
<li><a href="#gestures-action-server">Gestures Action Server</a></li>
<li><a href="#gestures-action-client">Gestures Action Client</a></li>
<li><a href="#look_at-actions">look_at actions</a></li>
<li><a href="#go_to-actions">go_to actions</a></li>
<li><a href="#local-path-planner-selection">Local Path Planner Selection</a></li>
</ul>
</li>
<li><a href="#roadmap">Roadmap</a></li>
......@@ -134,6 +135,9 @@ The Robot Behavior project is an [actionlib](http://wiki.ros.org/actionlib) base
.
###
Now that all the ROS modules required for the navigation are running, you will be able to launch all the Robot behavior actions.
### look_at actions
......@@ -374,8 +378,19 @@ Four types of `go_to` actions are possible:
__note__: One `look_at` action and one `go_to` action can be run at the time. If a `go_to` actions is launched while one is running, the running action will be canceled and the new one will be run.
###
### Local Path Planner Selection
In order to select the Deep Reinforcement Learning (DRL) local path planning algorithm or he Model Predictive Control (MPC) local path planning algorithm, you can set a parameter using [rosparam](http://wiki.ros.org/rosparam):
```sh
rosparam set /planning_manager/local_path_planner_name social_mpc
```
use `social_mpc` you want to choose the MPC algorithm or `social_rl` you want to choose the DRl algorithm. By default, the DRL is used.
In order to check the local path planner algorithm, type:
```sh
rosparam get /planning_manager/local_path_planner_name
```
the output should be `social_mpc` or `social_rl`.
Below, we can see two resulting examples of the Behavior Generator running in real time in ARI robot through ROS:
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