ApexNav
[RA-L'25 & ICRA'26] An Reliable and Efficient Framework for Zero-Shot Object Navigation
파일 탐색기
최종 버전 다운로드 (.zip)- apexnav_logo.png
- apexnav_logo_white.png
- auto_search.gif
- pipeline.jpg
- point2point.gif
- rviz_show.jpg
- video_plant.gif
- count_files.py
- failure_check.py
- geometry_utils.py
- object_point_cloud.py
- read_record.py
- write_record.py
- habitat_eval_hm3dv1.yaml
- habitat_eval_hm3dv2.yaml
- habitat_eval_mp3d.yaml
- habitat_vel_control.yaml
- __init__.py
- habitat_publisher.py
- pyproject.toml
- answer_reader.py
- llm_answer_hm3d.txt
- llm_answer_mp3d.txt
- deepseek_answer.py
- ollama_answer.py
- get_llm_answer.py
- get_sys_prompt.py
- only_answer.py
- answer.py
- real_world_test.yaml
- README.md
- real_world_test_habitat.py
- ApexNav.rviz
- ApexNav_Traj.rviz
- backward.hpp
- exploration_data.h
- exploration_fsm.h
- exploration_fsm_traj.h
- exploration_manager.h
- algorithm.xml
- algorithm_traj.xml
- exploration.launch
- exploration_traj.launch
- rviz.launch
- rviz_traj.launch
- exploration_fsm.cpp
- exploration_fsm_traj.cpp
- exploration_manager.cpp
- exploration_node.cpp
- CMakeLists.txt
- package.xml
- astar2d.h
- kino_astar.h
- matrix_hash.h
- traj_representation.h
- astar2d.cpp
- kino_astar.cpp
- CMakeLists.txt
- package.xml
- frontier_map2d.h
- map_ros.h
- object_map2d.h
- perception_utils2d.h
- raycast2d.h
- sdf_map2d.h
- value_map2d.h
- MultipleMasksWithConfidence.msg
- frontier_map2d.cpp
- map_ros.cpp
- object_map2d.cpp
- perception_utils2d.cpp
- raycast2d.cpp
- sdf_map2d.cpp
- value_map2d.cpp
- CMakeLists.txt
- package.xml
- control_param.yaml
- planning_param.yaml
- mpc.h
- firi.hpp
- geo_utils.hpp
- lbfgs.hpp
- minco.hpp
- quickhull.hpp
- root_finder.hpp
- sdlp.hpp
- sfc_gen.hpp
- trajectory.hpp
- optimizer.h
- PolyTraj.msg
- mpc.cpp
- optimizer.cpp
- traj_server.cpp
- CMakeLists.txt
- package.xml
- lkh3_interface.h
- BIT.h
- Delaunay.h
- GainType.h
- Genetic.h
- GeoConversion.h
- gpx.h
- Hashing.h
- Heap.h
- LKH.h
- Segment.h
- Sequence.h
- .DS_Store
- BIT.h
- Delaunay.h
- GainType.h
- Genetic.h
- GeoConversion.h
- gpx.h
- Hashing.h
- Heap.h
- LKH.h
- Segment.h
- Sequence.h
- .gitkeep
- Activate.c
- AddCandidate.c
- AddExtraCandidates.c
- AddTourCandidates.c
- AdjustCandidateSet.c
- AdjustClusters.c
- AllocateStructures.c
- Ascent.c
- Best2OptMove.c
- Best3OptMove.c
- Best4OptMove.c
- Best5OptMove.c
- BestKOptMove.c
- BestSpecialOptMove.c
- Between.c
- Between_SL.c
- Between_SSL.c
- BIT.c
- BridgeGain.c
- BuildKDTree.c
- C.c
- CandidateReport.c
- ChooseInitialTour.c
- Connect.c
- Create_POPMUSIC_CandidateSet.c
- CreateCandidateSet.c
- CreateDelaunayCandidateSet.c
- CreateNNCandidateSet.c
- CreateQuadrantCandidateSet.c
- CTSP_InitialTour.c
- CVRP_InitialTour.c
- Delaunay.c
- Distance.c
- Distance_MTSP.c
- Distance_SOP.c
- Distance_SPECIAL.c
- eprintf.c
- ERXT.c
- Excludable.c
- Exclude.c
- FindTour.c
- FixedOrCommonCandidates.c
- Flip.c
- Flip_SL.c
- Flip_SSL.c
- Forbidden.c
- FreeStructures.c
- fscanint.c
- Gain23.c
- GenerateCandidates.c
- Genetic.c
- GeoConversion.c
- GetTime.c
- gpx.c
- GreedyTour.c
- Hashing.c
- Heap.c
- Improvement.c
- IsBackboneCandidate.c
- IsCandidate.c
- IsCommonEdge.c
- IsPossibleCandidate.c
- KSwapKick.c
- LinKernighan.c
- LKH.c
- LKHmain.c
- Make2OptMove.c
- Make3OptMove.c
- Make4OptMove.c
- Make5OptMove.c
- Makefile
- MakeKOptMove.c
- MergeTourWithBestTour.c
- MergeWithTourGPX2.c
- MergeWithTourIPT.c
- Minimum1TreeCost.c
- MinimumSpanningTree.c
- MTSP2TSP.c
- MTSP_InitialTour.c
- MTSP_Report.c
- MTSP_WriteSolution.c
- NormalizeNodeList.c
- NormalizeSegmentList.c
- OrderCandidateSet.c
- PatchCycles.c
- PDPTW_Reduce.c
- Penalty_1_PDTSP.c
- Penalty_ACVRP.c
- Penalty_BWTSP.c
- Penalty_CCVRP.c
- Penalty_CTSP.c
- Penalty_CVRP.c
- Penalty_CVRPTW.c
- Penalty_M1_PDTSP.c
- Penalty_M_PDTSP.c
- Penalty_MLP.c
- Penalty_MTSP.c
- Penalty_OVRP.c
- Penalty_PDPTW.c
- Penalty_PDTSP.c
- Penalty_PDTSPF.c
- Penalty_PDTSPL.c
- Penalty_RCTVRP.c
- Penalty_SOP.c
- Penalty_TRP.c
- Penalty_TSPDL.c
- Penalty_TSPPD.c
- Penalty_TSPTW.c
- Penalty_VRPB.c
- Penalty_VRPBTW.c
- Penalty_VRPPD.c
- printff.c
- PrintParameters.c
- Random.c
- ReadCandidates.c
- ReadEdges.c
- ReadLine.c
- ReadParameters.c
- ReadPenalties.c
- ReadProblem.c
- RecordBestTour.c
- RecordBetterTour.c
- RemoveFirstActive.c
- ResetCandidateSet.c
- RestoreTour.c
- SegmentSize.c
- Sequence.c
- SFCTour.c
- SINTEF_WriteSolution.c
- SolveCompressedSubproblem.c
- SolveDelaunaySubproblems.c
- SolveKarpSubproblems.c
- SolveKCenterSubproblems.c
- SolveKMeansSubproblems.c
- SolveRoheSubproblems.c
- SolveSFCSubproblems.c
- SolveSubproblem.c
- SolveSubproblemBorderProblems.c
- SolveTourSegmentSubproblems.c
- SOP_InitialTour.c
- SOP_RepairTour.c
- SOP_Report.c
- Statistics.c
- StatusReport.c
- StoreTour.c
- STTSP2TSP.c
- SymmetrizeCandidateSet.c
- TrimCandidateSet.c
- TSPDL_InitialTour.c
- TSPTW_MakespanCost.c
- TSPTW_Reduce.c
- VRPB_Reduce.c
- WriteCandidates.c
- WritePenalties.c
- WriteTour.c
- .DS_Store
- Makefile
- README.txt
- .gitkeep
- Activate.c
- AddCandidate.c
- AddExtraCandidates.c
- AddTourCandidates.c
- AdjustCandidateSet.c
- AdjustClusters.c
- AllocateStructures.c
- Ascent.c
- Best2OptMove.c
- Best3OptMove.c
- Best4OptMove.c
- Best5OptMove.c
- BestKOptMove.c
- BestSpecialOptMove.c
- Between.c
- Between_SL.c
- Between_SSL.c
- BIT.c
- BridgeGain.c
- BuildKDTree.c
- C.c
- CandidateReport.c
- ChooseInitialTour.c
- Connect.c
- Create_POPMUSIC_CandidateSet.c
- CreateCandidateSet.c
- CreateDelaunayCandidateSet.c
- CreateNNCandidateSet.c
- CreateQuadrantCandidateSet.c
- CTSP_InitialTour.c
- CVRP_InitialTour.c
- Delaunay.c
- Distance.c
- Distance_MTSP.c
- Distance_SOP.c
- Distance_SPECIAL.c
- eprintf.c
- ERXT.c
- Excludable.c
- Exclude.c
- FindTour.c
- FixedOrCommonCandidates.c
- Flip.c
- Flip_SL.c
- Flip_SSL.c
- Forbidden.c
- FreeStructures.c
- fscanint.c
- Gain23.c
- GenerateCandidates.c
- Genetic.c
- GeoConversion.c
- GetTime.c
- gpx.c
- GreedyTour.c
- Hashing.c
- Heap.c
- Improvement.c
- IsBackboneCandidate.c
- IsCandidate.c
- IsCommonEdge.c
- IsPossibleCandidate.c
- KSwapKick.c
- LinKernighan.c
- Make2OptMove.c
- Make3OptMove.c
- Make4OptMove.c
- Make5OptMove.c
- Makefile
- MakeKOptMove.c
- MergeTourWithBestTour.c
- MergeWithTourGPX2.c
- MergeWithTourIPT.c
- Minimum1TreeCost.c
- MinimumSpanningTree.c
- MTSP2TSP.c
- MTSP_InitialTour.c
- MTSP_Report.c
- MTSP_WriteSolution.c
- NormalizeNodeList.c
- NormalizeSegmentList.c
- OrderCandidateSet.c
- PatchCycles.c
- PDPTW_Reduce.c
- Penalty_1_PDTSP.c
- Penalty_ACVRP.c
- Penalty_BWTSP.c
- Penalty_CCVRP.c
- Penalty_CTSP.c
- Penalty_CVRP.c
- Penalty_CVRPTW.c
- Penalty_M1_PDTSP.c
- Penalty_M_PDTSP.c
- Penalty_MLP.c
- Penalty_MTSP.c
- Penalty_OVRP.c
- Penalty_PDPTW.c
- Penalty_PDTSP.c
- Penalty_PDTSPF.c
- Penalty_PDTSPL.c
- Penalty_RCTVRP.c
- Penalty_SOP.c
- Penalty_TRP.c
- Penalty_TSPDL.c
- Penalty_TSPPD.c
- Penalty_TSPTW.c
- Penalty_VRPB.c
- Penalty_VRPBTW.c
- Penalty_VRPPD.c
- printff.c
- PrintParameters.c
- Random.c
- ReadCandidates.c
- ReadEdges.c
- ReadLine.c
- ReadParameters.c
- ReadPenalties.c
- ReadProblem.c
- RecordBestTour.c
- RecordBetterTour.c
- RemoveFirstActive.c
- ResetCandidateSet.c
- RestoreTour.c
- SegmentSize.c
- Sequence.c
- SFCTour.c
- SINTEF_WriteSolution.c
- SolveCompressedSubproblem.c
- SolveDelaunaySubproblems.c
- SolveKarpSubproblems.c
- SolveKCenterSubproblems.c
- SolveKMeansSubproblems.c
- SolveRoheSubproblems.c
- SolveSFCSubproblems.c
- SolveSubproblem.c
- SolveSubproblemBorderProblems.c
- SolveTourSegmentSubproblems.c
- SOP_InitialTour.c
- SOP_RepairTour.c
- SOP_Report.c
- Statistics.c
- StatusReport.c
- StoreTour.c
- STTSP2TSP.c
- SymmetrizeCandidateSet.c
- TrimCandidateSet.c
- TSPDL_InitialTour.c
- TSPTW_MakespanCost.c
- TSPTW_Reduce.c
- VRPB_Reduce.c
- WriteCandidates.c
- WritePenalties.c
- WriteTour.c
- lkh3_interface.cpp
- tsp_node.cpp
- SolveMTSP.srv
- CMakeLists.txt
- LKHmain.c
- package.xml
- planning_visualization.h
- planning_visualization.cpp
- CMakeLists.txt
- package.xml
- .clang-format
- CMakeLists.txt
- detections.py
- grounding_dino.py
- yolov7.py
- blip2itm.py
- sam.py
- get_itm_message.py
- get_object_utils.py
- __init__.py
- coco_classes.py
- Labels.py
- server_wrapper.py
- .gitignore
- apexnav_environment.yaml
- habitat_evaluation.py
- habitat_manual_control.py
- habitat_vel_control.py
- LICENSE
- params.py
- pyproject.toml
- README.md
# 설치 가이드
1. 코드 내려받기
git clone https://github.com/Robotics-STAR-Lab/ApexNav
깃허브에서 프로젝트 코드 전체를 내 컴퓨터로 내려받습니다.
cd ApexNav
방금 내려받은 프로젝트 폴더 안으로 이동합니다.
2. CMake
보통 추천사전 준비물
cd src
이 프로젝트의 관련 파일이 하위 폴더 안에 있어서, 먼저 그 폴더로 이동합니다.
mkdir build && cd build
빌드 결과물을 담을 폴더를 만들고 그 안으로 이동합니다.
cmake ..
소스코드를 분석해 빌드 설정 파일을 생성합니다 (build 폴더 안에서 실행해야 함).
make
생성된 빌드 설정을 바탕으로 실제 컴파일을 진행해 실행 파일을 만듭니다.
build 폴더 안에 실행 파일이 생성됐는지 확인하고, 직접 실행해보세요 (예: ./build/앱이름).
3. Python
쉬움사전 준비물
pip install .
PyPI에 배포된 패키지를 바로 설치합니다. 소스 클론이 필요 없습니다.
python <실행할 파일명>.py # README에서 정확한 실행 파일명을 확인하세요
파이썬 스크립트(또는 모듈)를 실행합니다.
에러 메시지 없이 실행되고 터미널에 안내 문구가 출력되면 정상입니다.
4. Make
보통사전 준비물
- Git GitHub에서 프로젝트 코드를 내려받으려면 필요합니다.
- Make Linux/macOS는 보통 기본 설치되어 있습니다. Windows는 별도 설치(예: MSYS2, WSL)가 필요합니다.
⚠️ 이 프로젝트는 규모가 큰 저장소라, 이 방법이 실제 핵심 제품이 아니라 내부 하위 패키지를 가리키는 것일 수 있습니다. README 전체를 함께 확인해보세요.
cd src/planner/utils/lkh_mtsp_solver/LKH
이 프로젝트의 관련 파일이 하위 폴더 안에 있어서, 먼저 그 폴더로 이동합니다.
make
생성된 빌드 설정을 바탕으로 실제 컴파일을 진행해 실행 파일을 만듭니다.
에러 없이 끝나면 성공입니다. 생성된 실행 파일을 직접 실행해보세요.
// repository documentation
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