https://github.com/erc-bpgc/gennav

Python Package for Robot Navigation
https://github.com/erc-bpgc/gennav

motion-planning navigation path-planning python27 python36 robotics

Last synced: about 1 month ago
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Python Package for Robot Navigation

• Host: GitHub
• URL: https://github.com/erc-bpgc/gennav
• Owner: ERC-BPGC
• License: mit
• Created: 2020-05-17T07:51:11.000Z (over 4 years ago)
• Default Branch: master
• Last Pushed: 2023-09-19T11:44:42.000Z (about 1 year ago)
• Last Synced: 2024-10-12T09:20:22.004Z (about 1 month ago)
• Topics: motion-planning, navigation, path-planning, python27, python36, robotics
• Language: Python
• Homepage:
• Size: 842 KB
• Stars: 28
• Watchers: 4
• Forks: 22
• Open Issues: 23
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# GenNav 

[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

[![Build Status](https://travis-ci.org/ERC-BPGC/gennav.svg?branch=master)](https://travis-ci.org/ERC-BPGC/gennav)

[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/ERC-BPGC/gennav.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/ERC-BPGC/gennav/context:python)

[![Total alerts](https://img.shields.io/lgtm/alerts/g/ERC-BPGC/gennav.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/ERC-BPGC/gennav/alerts/)

[![Documentation Status](https://readthedocs.org/projects/gennav/badge/?version=latest)](https://gennav.readthedocs.io/en/latest/?badge=latest)

**Status: Under Development**

A python package for robot navigation algorithms.

## Installation

The package is currently under development so we suggest installing from source.

### From Source (Recommended)

```bash

git clone https://github.com/ERC-BPGC/gennav.git

cd gennav

python -m pip install .

```

### Using pip

```bash

pip install gennav

```

## Usage

To plan a path using the Rapidly-exploring random tree algorithm in a polygon based environment representation. 

```python

from gennav.planners import RRT

from gennav.envs import PolygonEnv

from gennav.utils import RobotState

from gennav.utils.geometry import Point

from gennav.utils.samplers import UniformRectSampler

obstacles = []  # obstacles can be added here

env = PolygonEnv()  # polygon environment to keep track of obstacles

env.update(obstacles)  # updating environment with obstacles

sampler = UniformRectSampler(-5, 15, -5, 15)  # for sampling random states

planner = RRT(sampler=sampler, expand_dis=0.1)  # creating the planner

start = RobotState(position=Point(1, 1))  # starting state

goal = RobotState(position=Point(10, 10))  # goal state

path, info_dict = planner.plan(start, goal, env)  # planning path through obstacles

```

Note that the environment have been left blank empty here, they should be updated as per use case.

For more details you can refer to our [documentation](https://gennav.readthedocs.io/en/latest/index.html).

### ROS Integration

If you wish to use gennav in a ROS based stack, check out [gennav_ros](https://github.com/ERC-BPGC/gennav_ros).

## Contributions

Contributions are always welcome. We reccomend you check out [contribution guidelines](./CONTRIBUTION.md) and view the [docs](https://gennav.readthedocs.io/en/latest/index.html) beforehand.