Getting started

Run these commands from the local workspace shown below. The repository is the Python project and contains the ROS 2 package at ros2/wm_planner_ros.

Python workspace setup

For workspace setup, follow the Quick Start in the repository README, available through the Source code link on the project homepage.

Build the ROS 2 wrapper

source /opt/ros/jazzy/setup.bash # use setup.zsh from zsh
source $WM_VENV/bin/activate
colcon build --base-paths src/wm_planner/ros2 --packages-select wm_planner_ros
source install/setup.bash

Read next

• Data pipeline prepares episodes from bag recordings.

• World model explains the model families and planning path.

• Training contains the existing training and evaluation examples.

• ROS2 contains ROS2 integration details (e.g., launch arguments, checkpoint requirements, topics and node parameters).