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Adds explicit short getting started to docs, addresses #4.
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.. _example_long: | ||
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Example | ||
================== | ||
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Getting started | ||
===================================== | ||
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This is the guide to quickly get going with the local motion planning benchmark suite. | ||
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Pre-requisites | ||
----------------- | ||
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- Linux Ubuntu LTS >= 18.04 | ||
- Python >3.6, < 3.10 | ||
- pip3 | ||
- gnuplot (``sudo apt install gnuplot``) | ||
- [Optional] `poetry <https://python-poetry.org/docs/>`_ | ||
- [Optional] `embotech forces pro <https://www.embotech.com/products/forcespro/overview/>`_ for mpc | ||
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Installation | ||
------------ | ||
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You first have to download the repository | ||
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.. code:: bash | ||
git clone [email protected]:maxspahn/localPlannerBench.git | ||
Then, you can install the package using pip as: | ||
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.. code:: bash | ||
pip3 install . | ||
Optional: Installation with poetry | ||
------------------------------------ | ||
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If you want to use `poetry <https://python-poetry.org/docs/>`_, you have | ||
to install it first. See their webpage for instructions | ||
`docs <https://python-poetry.org/docs/>`_. Once poetry is installed, you can | ||
install the virtual environment with the following commands. Note that during | ||
the first installation ``poetry update`` takes up to 300 secs. | ||
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.. code:: bash | ||
poetry update | ||
poetry install | ||
The virtual environment is entered by | ||
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.. code:: bash | ||
poetry shell | ||
Tutorial | ||
------------ | ||
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The following is a very simple example case. | ||
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Run an experiments: | ||
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Experiments should be added in separate folder in ``experiments``. | ||
One very simple example can be found in this folder. | ||
Note that you need to active your poetry shell if you have installed the package using | ||
poetry by | ||
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.. code:: bash | ||
poetry shell | ||
Then you navigate there by | ||
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.. code:: bash | ||
cd experiments/1_fabric_mpc/pointMass | ||
Then the experiment is run with the command line interface | ||
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.. code:: bash | ||
../../../plannerbenchmark/exec/runner -c setup/exp.yaml -p fabric setup/fabric.yaml --render | ||
Postprocessing: | ||
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The experiments can be postprocessed using the provide executable. When | ||
using poetry, make sure you are in the virtual environment (``poetry shell``) | ||
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.. code:: bash | ||
cd path/to/folder/of/experiment | ||
The you can run the post processor with arguments as | ||
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.. code:: bash | ||
../../../plannerbenchmark/exec/postProcessor --exp path/to/experiment -k time2Goal pathLength --plot | ||
More detailed information about this example can be found in :ref:`example_long` |
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@@ -6,78 +6,3 @@ local motion planning algorithms. Running and postprocessing is | |
available and we aim to offer a nice interface to implement a wrapper to | ||
your own motion planner. | ||
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Dependencies | ||
------------- | ||
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The package generates plots using `gnuplot`. Gnuplot can be installed on ubuntu | ||
using aptitude. | ||
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.. code:: bash | ||
sudo apt install gnuplot | ||
Installation | ||
------------ | ||
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You first have to download the repository | ||
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.. code:: bash | ||
git clone [email protected]:maxspahn/localPlannerBench.git | ||
You can install the package using pip as: | ||
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.. code:: bash | ||
pip3 install . | ||
If you want to use `poetry <https://python-poetry.org/docs/>`_, you have | ||
to install it first. See their webpage for instructions | ||
https://python-poetry.org/docs/. Once poetry is installed, you can | ||
install the virtual environment with | ||
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.. code:: bash | ||
poetry update | ||
poetry install | ||
The virtual environment is entered by | ||
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.. code:: bash | ||
poetry shell | ||
Run an experiments | ||
------------------ | ||
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Experiments should be added in separate folder in ``experiments``. Some | ||
default experiments are setup in this repositiory. Navigate there by | ||
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.. code:: bash | ||
poetry shell | ||
cd experiments/1_fabric_mpc/pointMass | ||
Then the experiment is run with the command line interface | ||
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.. code:: bash | ||
../../../plannerbenchmark/exec/runner -c setup/exp.yaml -p fabric setup/fabric.yaml --render | ||
Postprocessing | ||
-------------- | ||
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The experiments can be postprocessed using the provide executable. When | ||
using poetry, make sure you are in the virtual environment. | ||
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.. code:: bash | ||
poetry shell | ||
cd path/to/folder/of/experiment | ||
The you can run the post processor with arguments as | ||
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.. code:: bash | ||
../../../plannerbenchmark/exec/postProcessor --exp path/to/experiment -k time2Goal pathLength --plot |