@@ -134,6 +135,9 @@ The Robot Behavior project is an [actionlib](http://wiki.ros.org/actionlib) base
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###
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
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@@ -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: