CoHAN Planner Multi

The extension of the CoHAN Planner that allows usage within the Arena-Bench infrastructure. More details about the CoHAN Planner can be found here.

Installation (for Arena-Bench)

Activate poetry shell

cd ~/catkin_ws/src/arena-rosnav # Navigate to your arena-rosnav location
poetry shell

Make sure to source the workspace environment

cd ../.. # navigate to the catkin_ws directory
catkin_make
source devel/setup.zsh # if you use bash: source devel/setup.bash 

Usage

This planner can be chosen using the local_planner argument like so:

roslaunch arena_bringup start_arena.launch local_planner:=cohan # Make sure that your virtual env/poetry is activated

For more details regarding usage, please refer to our documentation