Getting Started (Pure Python)

Primary entrypoint:

• examples/getting_started/run_getting_started.py

Reference guide:

• examples/getting_started/README.md

Note

This page is Python-only. For ROS2/Nav2 integration, use ROS2 / Nav2 Demos.

1. Run

python -m examples.getting_started.run_getting_started

Performance-focused run:

python -m examples.getting_started.run_getting_started --show-viewer --tick-ms 1 --ui-refresh-ms 200

Smoke run:

python -m examples.getting_started.run_getting_started --test-mode --smoke-fast --max-steps 80 --no-show-viewer

2. What the GUI shows

• Task switching: waypoint / inspection

• Global planner switching: global_sequential / global_route_opt / global_grid_path

• Local planner: dwa_planner

• Sensor profile switching and metadata

• Minimap route editing and occupancy hints

3. Extension templates

• Algorithm template: examples/getting_started/algorithm_template.py

• Task template: examples/getting_started/task_template.py

Target module paths:

• Algorithms: omninav/algorithms

• Tasks: omninav/evaluation/tasks

4. Quick troubleshooting

• ModuleNotFoundError: No module named 'examples': run with python -m examples.getting_started.run_getting_started from repo root.

• Viewer scene recreate error in GUI: avoid rapid repeated rebuild/reset clicks; wait for previous environment close cycle.

• Goal convergence oscillation: tune local_dwa config and verify occupancy map alignment for the selected scene.