From 491edcafbeb02c464ffc714dad737f89aff4f496 Mon Sep 17 00:00:00 2001 From: TJU_Lu Date: Tue, 17 Jun 2025 11:19:27 +0800 Subject: [PATCH] readme --- README.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/README.md b/README.md index 91c0d98..1d5f1d1 100644 --- a/README.md +++ b/README.md @@ -85,6 +85,7 @@ You can test the policy using pre-trained weights we provide at `YOPO/saved/YOPO For detailed introduction about the controller, please refer to [Controller_Introduction](Controller/src/readme.md) ``` cd Controller +source devel/setup.bash roslaunch so3_quadrotor_simulator simulator_attitude_control.launch ``` **2. Start the Environment and Sensors Simulator** @@ -92,6 +93,7 @@ roslaunch so3_quadrotor_simulator simulator_attitude_control.launch For detailed introduction about the simulator, please refer to [Simulator_Introduction](Simulator/src/readme.md). Example of a random forest can be found in [random_forest.png](docs/random_forest.png) ``` cd Simulator +source devel/setup.bash rosrun sensor_simulator sensor_simulator_cuda ``` @@ -133,6 +135,7 @@ You can click the `2D Nav Goal` on RVIZ as the goal (the map is infinite so the For efficiency, we proactively collect dataset (images, states, and map) by randomly resetting the drone's states (positions and orientations). It only takes 1–2 minutes to collect 100,000 samples, and you only need to collect once. ``` cd Simulator +source devel/setup.bash rosrun sensor_simulator dataset_generator ``` The data will be saved at `./dataset`: