Skip to content

Latest commit

 

History

History
279 lines (200 loc) · 7.7 KB

Installation.md

File metadata and controls

279 lines (200 loc) · 7.7 KB

1. Installation

For those who already have installed arena-rosnav

For those who already installed arena-rosnav, please follow the following instructions

  • Install additional turtlebot packages
sudo apt-get update && sudo apt-get install -y \
ros-melodic-turtlebot3-description \
ros-melodic-turtlebot3-navigation \
ros-melodic-octomap \
  • create a new catkin_workspace
  • start from point 1.3: arena-rosnav-3D

1.1. Standard ROS setup

(Code has been tested with ROS-melodic on Ubuntu 18.04 and Python 3.6)

  • Configure your Ubuntu repositories
sudo add-apt-repository universe
sudo add-apt-repository multiverse
sudo add-apt-repository restricted
sudo apt update
  • Setup your scources.list
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  • Set up your keys
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  • Installation
sudo apt update
sudo apt install ros-melodic-desktop-full
  • Environment Setup
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc
source ~/.bashrc
  • Dependencies for building packages
sudo apt install python-rosdep python-rosinstall python-rosinstall-generator python-wstool build-essential
  • Initialize rosdep
sudo rosdep init
rosdep update
  • Install additional pkgs
sudo apt-get update && sudo apt-get install -y \
libqt4-dev \
libopencv-dev \
liblua5.2-dev \
screen \
python3.6 \
python3.6-dev \
libpython3.6-dev \
python3-catkin-pkg-modules \
python3-rospkg-modules \
python3-empy \
python3-setuptools \
ros-melodic-navigation \
ros-melodic-teb-local-planner \
ros-melodic-mpc-local-planner \
libarmadillo-dev \
ros-melodic-nlopt \
ros-melodic-turtlebot3-description \
ros-melodic-turtlebot3-navigation \
ros-melodic-octomap \

1.2. Prepare virtual environment & install python packages

To be able to use python3 with ROS, you need an virtual environment. We recommend using virtualenv & virtualenvwrapper.

  • Install virtual environment and wrapper (as root or admin! with sudo) on your local pc (without conda activated. Deactivate conda env, if you have one active)
sudo pip3 install --upgrade pip
sudo pip3 install virtualenv
sudo pip3 install virtualenvwrapper
which virtualenv   # should output /usr/local/bin/virtualenv
  • Create venv folder inside your home directory
cd $HOME
mkdir python_env   # create a venv folder in your home directory
  • Add exports into your .bashrc or .zshrc:
echo "export WORKON_HOME=$HOME/python_env   #path to your venv folder
export VIRTUALENVWRAPPER_PYTHON=/usr/bin/python3   #path to your python3
export VIRTUALENVWRAPPER_VIRTUALENV=/usr/local/bin/virtualenv
source /usr/local/bin/virtualenvwrapper.sh" >> ~/.bashrc
  • Create a new venv

Note: You might need to restart your terminal at this point.

mkvirtualenv --python=python3.6 rosnav
workon rosnav
  • Install packages inside your venv (venv always activated!):
pip install --extra-index-url https://rospypi.github.io/simple/ rospy rosbag tf tf2_ros --ignore-installed
pip install pyyaml catkin_pkg netifaces pathlib lxml
  • Install stable_baselines3 for training DRL into your venv (venv always activated!)
pip install stable-baselines3
  • Install ros geometry and geometry2 from source (compiled with python3)

The official ros only support tf2 with python2. In order to make the tf work in python3, its necessary to compile it with python3. Run the following commands in the terminal:

mkdir -p ~/rosws/src
cd rosws && catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
echo "source ~/rosws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc
cd ~/rosws/src
git clone https://github.com/ros/geometry2.git -b melodic-devel
git clone https://github.com/ros/geometry.git -b melodic-devel
cd .. && catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3

1.3 Install arena-rosnav-3D and pedsim repo

  • Create a catkin_ws and clone this repo into your catkin_ws
cd $HOME
mkdir -p catkin_ws/src && cd catkin_ws/src
git clone https://github.com/eliastreis/arena-rosnav-3D.git
git clone https://github.com/eliastreis/pedsim_ros.git -b ros-melodic-gazebo
git clone https://bitbucket.org/acl-swarm/ford_msgs/src/master/
cd ..
catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.zsh

Note: if you use zsh replace bash with zsh in the commands or vice versa

  • (Optional) Set python path in .zshrc (or .bashrc if you use that)
vim ~/.bashrc

Add these lines to your .zshrc or .bashrc

source /$HOME/catkin_ws/devel/setup.zsh
export PYTHONPATH=$HOME/catkin_ws/src/arena-rosnav-3D:${PYTHONPATH}

Add this line above to the beginning of .zshrc or .bashrc

export PYTHONPATH=""

Note: if you dont add these lines, you have to manually set the Pythonpath with every new terminal.

Gazbebo and Pedsim part

  • Install additional packages using rosdep
sudo apt install python-rosdep python-rospkg
sudo rosdep init
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
  • Install pedsim (for obstacle management):
cd ~/catkin_ws/src/
git clone https://github.com/eliastreis/pedsim_ros.git -b ros-melodic-gazebo
../..
catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3
  • Install additional pip packages
pip install tensorflow==1.15 filelock pyqt5 mpi4py
  • Setup gazebo_ros for python3 compatibility To ensure python3 compatibility the gazebo_ros package must be changed: (we recomend the following steps):
  1. run this command in the terminal to receive writing rights for the package:
sudo chown -R $USER:$USER /opt/ros

go to /opt/ros/melodic/lib/gazebo_ros/spawn_model

vim /opt/ros/melodic/lib/gazebo_ros/spawn_model

and change #!/usr/bin/env python2.7 to #!/usr/bin/env python. Safe and close. Now you should be able to use gazebo9 with python3

Note: Install Gazebo from source

Normally, the gazebo package should be included in the ros-full-desktop version. In case you dont have it, you can install it from source by executing the script provided (install_gazebo.sh). Please see install_gazebo.md.

Error Handling

if you encounter the error "world path not given", it is probably because you havent updated the forks repository or working on an old branch. In that case go to the arena-rosnav folder and do

rosws update

Subsequently, go to the forks/stable_baselines3 folder and do:

pip install -e .

TF2 ERROR

Errors with tf2 (transform2) are due to the fact that ROS melodic only supports python2 and the tf1 package. However, our repository contains a lot of packages from python3 that require tf2. As a workaround we installed the geometry2 package (that contains tf2) from source and every operation that is looking for tf2 should look into that geometry 2 path instead of the /ros path. Thus, in your Pythonpath variable, you need to check that the geometry2 path is in front of the /opt/ros/melodic path! An example echo $PYTHONPATH could look like this:

/home/username/arena_ws/src/arena-rosnav/:/home/username/arena_3d/src/arena-rosnav-3D/:/home/username/geometry2_ws/devel/lib/python3/dist-#packages:/ opt/ros/melodic/lib/python2.7/dist-packages

Note that geometry2 is in front of /opt/ros/melodic. Thus, the python interpreter will look into that folder first and use the correct tf2 package required for this project.

Training with GPU RTX 3090

in order to train with an NVIDIA GPU RTX3090 you need the latest version of pytorch. Inside your venv, do:

pip3 install torch==1.9.0+cu111 torchvision==0.10.0+cu111 torchaudio==0.9.0 -f https://download.pytorch.org/whl/torch_stable.html