add humble-navigation2

2025-05-27 19:03:40 +08:00
parent 974abb5e1e
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+# Planning Benchmark
+
+This experiment runs a set of planners over randomly generated maps, with randomly generated goals for objective benchmarking.
+
+To use, modify the Nav2 bringup parameters to include the planners of interest:
+
+```
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    use_sim_time: True
+    planner_plugins: ["SmacHybrid", "Smac2d", "SmacLattice", "Navfn", "ThetaStar"]
+    SmacHybrid:
+      plugin: "nav2_smac_planner/SmacPlannerHybrid"
+    Smac2d:
+      plugin: "nav2_smac_planner/SmacPlanner2D"
+    SmacLattice:
+      plugin: "nav2_smac_planner/SmacPlannerLattice"
+    Navfn:
+      plugin: "nav2_navfn_planner/NavfnPlanner"
+    ThetaStar:
+      plugin: "nav2_theta_star_planner/ThetaStarPlanner"
+```
+
+Set global costmap settings to those desired for benchmarking. The global map will be automatically set in the script. Inside of `metrics.py`, you can modify the map or set of planners to use.
+
+Launch the benchmark via `ros2 launch ./planning_benchmark_bringup.py` to launch the planner and map servers, then run each script in this directory:
+
+- `metrics.py` to capture data in `.pickle` files.
+- `process_data.py` to take the metric files and process them into key results (and plots)