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TJU_Lu 2024-12-01 00:15:13 +08:00
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README.md
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@ -134,7 +134,7 @@ It may take 2-3 hours to traing with default dataset size and training epoch. If
<img src="/docs/train_log.png" alt="train_log" width="80%"/>
</p>
Besides, you can refer to [quadrotor_env.yaml](./flightlib/configs/quadrotor_env.yaml), [vec_env.yaml](./flightlib/config/vec_env.yaml) and [traj_opt.yaml](./flightlib/config/traj_opt.yaml) for some modifications of quadrotor, environment, and trajectory optimization.
Besides, you can refer to [quadrotor_env.yaml](./flightlib/configs/quadrotor_env.yaml), [vec_env.yaml](./flightlib/configs/vec_env.yaml) and [traj_opt.yaml](./flightlib/configs/traj_opt.yaml) for some modifications of quadrotor, environment, and trajectory optimization.
## Test the Policy
@ -172,7 +172,7 @@ cd ~/YOPO/flightlib/build
./flightros_node
```
Besides, you can refer to [quadrotor_ros.yaml](./flightlib/configs/quadrotor_ros.yaml) for some modifications.
Besides, you can refer to [quadrotor_ros.yaml](./flightlib/configs/quadrotor_ros.yaml) for some modifications of the environment.
**2.2** Start the dynamics simulation and controller of UAV
```
@ -181,7 +181,7 @@ source devel/setup.bash
roslaunch so3_quadrotor_simulator simulator.launch
```
**2.3** Start the YOPO inference and the planner (the implementation of yopo_planner_node will be moved to test_yopo_ros.py in the future)
**2.3** Start the YOPO inference and the planner (The implementation of `yopo_planner_node` will be moved to `test_yopo_ros.py` in the future). You can refer to [traj_opt.yaml](./flightlib/configs/traj_opt.yaml) for some modifications such as the flight speed (The given weights are pretrained at 6 m/s and perform smoothly at speeds 0 - 6 m/s).
```
cd ~/YOPO/run