Deep Reinforcement Learning for mobile robot navigation in ROS2 Gazebo simulator. Using Twin Delayed Deep Deterministic Policy Gradient (TD3) neural network, a robot learns to navigate to a random goal point in a simulated environment while avoiding obstacles. Trained in ROS2 Humble & Gazebo simulator with PyTorch.
Install Python 3.10, ROS2 Humble, Gazebo 11 on Ubuntu 22.04
git clone git@github.com:vishweshvhavle/deep-rl-navigation.git
cd deep-rl-navigation/DRL_robot_navigation_ros2/
sudo rosdep init
rosdep install --from-paths src --ignore-src -y
colcon build
cd ..
For Training -
ros2 launch td3 train_simulation.launch.py
For Testing -
ros2 launch td3 test_simulation.launch.py
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