drlvo

Arena wrapper for the DRL-VO (Velocity Obstacle) navigator. Adapted from TempleRAIL/drl_vo_nav (humble branch).

Run

arena launch robot.mobile:=drl robot.mobile.planner:=drlvo

Requires a global plan. Defaults to nav2/navfn.

Files

• planner.py: entry point. Scan + lookahead-on-path produces [vx, wz].
• policy.py: vendored ResNet+PPO model loader.
• planner.yaml: observation manifest.
• weights.yaml: pulls drl_vo.zip from arena-rosnav/drlvo on arena feature planners add drlvo.
• See ATTRIBUTION.md for code provenance. Weight metadata lives on the HF repo.

License

GPL-3.0 (inherited from upstream).