tianyilim/rrtx

An implementation of the RRTx Algorithm in Python

What's up, buttercup?

About Me

Hello! I'm Tianyi! I am in the fourth semester of my MSc Robotics, Systems, and Control course at ETH Zurich. Currently, I am working on my Masters' Thesis at the Computer Vision and Geometry Lab (CVG) at ETHz, working on large-scale Pose Graph Optimization.

I graduated from a three-year BEng Electronic and Information Engineering (for the rest of the world, Computer Engineering) course at Imperial College London with first-class honours.

I am passionate about robotics — the union of computing, mathematics, electrical and mechanical engineering and more.

Skills

I am fluent in Python and C++. From various projects, internships and coursework, I also have experience in ROS(2), Fusion 360, and MATLAB.

I'm currently working on

• Master's Thesis on pose-graph optimization
• Preparing to compete at the 2024 F1TENTH Autonomous Grand Prix with ForzaETH

Recent highlights

• Helping to develop perception for L4 autonomous trucks with Embotech as part of the Safety, Systems, and Engineering team.
• Competing in the 2023 F1TENTH Autonomous Grand Prix with the ForzaETH team. We managed to win first place!
• A Monocular Visual Odometry (VO) pipeline with elements from OpenCV, built in Python. This was coursework for the Vision Algorithms for Mobile Robotics course at UZH.
• A path planner for autonomous cars using the RRTx algorithm. This was coursework for the Planning and Decision-Making for Autonomous Robots course at ETH. Check it out here.
• My Final Year Project at Imperial College on Multi-Robot path planning using a variation of the Dynamic Window Approach. The algorithms are written in Python and simulated in ROS/Gazebo. Check it out here!
• I was also involved in Imperial's Formula Student Artificial Intelligence competition where we hope to get our vehicle to autonomously detect and drive around a closed circuit demarcated by cones. Check out the organization on LinkedIn and GitHub.

Stats for Nerds

I'm an Early 🐤

🌞 Morning                981 commits         ███████░░░░░░░░░░░░░░░░░░   27.07 % 
🌆 Daytime                1504 commits        ██████████░░░░░░░░░░░░░░░   41.50 % 
🌃 Evening                857 commits         ██████░░░░░░░░░░░░░░░░░░░   23.65 % 
🌙 Night                  282 commits         ██░░░░░░░░░░░░░░░░░░░░░░░   07.78 % 

📊 This Week I Spent My Time On

💬 Programming Languages: 
Markdown                 14 mins             ██████████████████░░░░░░░   73.55 % 
JSON                     1 min               ███░░░░░░░░░░░░░░░░░░░░░░   10.35 % 
Bash                     1 min               ██░░░░░░░░░░░░░░░░░░░░░░░   06.28 % 
Rust                     0 secs              █░░░░░░░░░░░░░░░░░░░░░░░░   05.00 % 
YAML                     0 secs              █░░░░░░░░░░░░░░░░░░░░░░░░   02.65 % 

🐱‍💻 Projects: 
ProDriver                18 mins             ████████████████████████░   94.54 % 
race_stack               0 secs              █░░░░░░░░░░░░░░░░░░░░░░░░   04.05 % 
src                      0 secs              ░░░░░░░░░░░░░░░░░░░░░░░░░   01.41 % 

I Mostly Code in C++

C++                      22 repos            ██████████░░░░░░░░░░░░░░░   40.00 % 
Python                   14 repos            ██████░░░░░░░░░░░░░░░░░░░   25.45 % 
C                        6 repos             ███░░░░░░░░░░░░░░░░░░░░░░   10.91 % 
MATLAB                   2 repos             █░░░░░░░░░░░░░░░░░░░░░░░░   03.64 % 
Shell                    1 repo              ░░░░░░░░░░░░░░░░░░░░░░░░░   01.82 % 

Last Updated on 24/01/2024 12:27:13 UTC

credit - Abhishek Naidu's excellent tutorial

rrtx's Issues

Incomplete requirements.txt

Could you please update the requirements.txt file to contain all required packages? Maybe even including the required version?
I tried the following, but unfortunately pip install -r requirements.txt failed.

• shapely
• scipy
• numpy
• matplotlib
• datetime
• commonroad-all
• dg_commons