Is there a reproduction pipeline / scripts for running Ego-planner in AvoidBench?

[honghongdev]

Hi authors,

Thanks for open-sourcing AvoidBench! I noticed the repository currently provides a demo for Agile_autonomy, but the README/Results mention that Ego-planner was also evaluated. However, I couldn’t find a reproduction pipeline for Ego-planner in the repo.

I would like to reproduce and test Ego-planner in AvoidBench. Could you please share any of the following materials (even a brief description would be very helpful)?

1. Launch files or scripts to run Ego-planner
2. Integration/interface adaptation details with AvoidBench (topic remaps for cloud/odom/goal/command, coordinate frames)
3. The parameter configuration used in the experiments (e.g., YAML files)
4. A minimal reproduction tutorial (how to reproduce the benchmark results reported in the Results section)

If the experimental code cannot be released at the moment, a high-level checklist (required input/output topics and frames) plus an example remap would also be helpful.

What I have confirmed so far:

• The Agile_autonomy demo runs successfully
• I couldn’t find an Ego-planner demo/launch in the repo