Forked repo of the AutoRally project. Go to the parent repository to read through the original README.md which includes setup/build instructions.
The following items are the contributions made in this forked repo:
- ML Pipeline - Adds a scalable framework to train a neural network dynamics model so that MPPI supports other vehicle models other than AutoRally. Link
- SSL Vision - Adds setup instructions to configure SSL Vision and python scripts to measure the sensor noise of the overhead vision system. Link
- Removed ROS coupling - Removed some coupling between MPPI and ROS. No longer need the
roslaunchwrapper to launch path_integral_nn, can now just run it as a standalone binary. Link - Profiler instructions - PROFILE.md provides specific instructions on how to setup the NVIDIA Visual Profiler to debug + profile MPPI. Link