How do we change the planner from MotionPlanner_gbfs.py to MotionPlanner.py in batch processing? I didn’t find the execute_search_batch function in the jupyter notebook. Also I tried to change function parameter “planner_id=3” in batch_search.py but it still runs MotionPlanner_gbfs.
Many thanks in advance.
Hi, changing the planner_id should work. You can try restarting the kernel and run the jupyter notebook for batch processing again.
Hi,
Just a suggestion for an improvement:
Currently the function “execute_search_batch” from “batch_search.py” is called with the “call_trajectory_planner” in the “batch_processing.ipynb”. However, no parameter with “planner_id” is passed. Therefore, the plannerID stays 1.
Possible improvement:
Add the “planner_id” to the batch_processing_config.yaml as a parameter for the user.
And then the batch_processing.ipynb could import this variable and use it in batch_search.
Hi again. Thanks for the feedback, yeah, that sounds good. With the current version, you can change the default value of planner id in execute_search_batch within batch_search.py.