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Installation.md

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TODO s

  • Currenly both pedsims get downloaded, only jeceks pedsim is needed
  • Jeceks pedsim relys on flatland msgs therefore flatland needs to be installed.
  • install package lxml : pip install lxml
  • setup of pyhton path: first draft → into .bashrc
export PYTHONPATH=$HOME/catkin_ws/devel/lib/python3/dist-packages:${PYTHONPATH}
export PYTHONPATH=$HOME/catkin_ws/src/arena-rosnav-3D:${PYTHONPATH}
export PYTHONPATH=$HOME/rosws/devel/lib/python3/dist-packages:${PYTHONPATH}

sudo apt-get install ros-noetic-hector-gazebo-plugins sudo apt install ros-noetic-libhector-gazebo-ros-imu

1. Installation

1.1. Standard ROS setup

(Code has been tested with ROS-noetic on Ubuntu 20.04 and Python 3.8)

  • 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-noetic-desktop-full
  • Environment Setup
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
source ~/.bashrc

1.2. Prepare virtual environment & install python packages

  • Initialize rosdep
sudo apt-get update && sudo apt-get install -y \
libopencv-dev \
liblua5.2-dev \
screen \
python3-rosdep \
python3-rosinstall \
python3-rosinstall-generator \
build-essential \
python3-rospkg-modules \
ros-noetic-navigation \
ros-noetic-teb-local-planner \
ros-noetic-mpc-local-planner \
libarmadillo-dev \
ros-noetic-nlopt \
ros-noetic-turtlebot3-description \
ros-noetic-turtlebot3-navigation \
ros-noetic-lms1xx \
ros-noetic-velodyne-description \

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 apt install python3-pip
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.

source ~/.bashrc
mkvirtualenv --python=python3.8 rosnav
  • Install packages inside your venv (venv always activated!):
pip3 install --extra-index-url https://rospypi.github.io/simple/ rospy rosbag tf tf2_ros --ignore-installed
pip3 install pyyaml catkin_pkg gym netifaces pathlib filelock pyqt5 mpi4py torch lxml scipy defusedxml

1.3 Install arena-rosnav-3D and pedsim repo

  • Create a catkin_ws and clone this repo with its dependencies into your catkin_ws
cd $HOME
mkdir -p catkin_ws/src && cd catkin_ws/src
git clone https://github.com/ignc-research/arena-rosnav-3D.git
cd arena-rosnav-3D
rosws update
cd ../..
catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.bash
  • Extract the mesh of agv-ota robot
tar -xf $HOME/catkin_ws/src/arena-rosnav-3D/simulator_setup/robot/agv-ota/meshes/OTAv07_meshes/OTA-v0.7.tar.xz -C $HOME/catkin_ws/src/arena-rosnav-3D/simulator_setup/robot/agv-ota/meshes/OTAv07_meshes/
  • Add the changes to your .bashrc file

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

echo "source $HOME/catkin_ws/devel/setup.bash
export PYTHONPATH=$HOME/catkin_ws/src/arena-rosnav-3D:${PYTHONPATH}" >> ~/.bashrc

By now it would be advisable to check your python for your catkin_ws folder. Run gedit ~/.bashrc it should like this:

export PYTHONPATH=/home/usr/catkin_ws/src/arena-rosnav-3D:/home/usr/catkin_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages

1.4 Include the actor-collsion plugin

  • To install the plugin that allows collision with our dynamic actor model run the follwoing lines:
cd $HOME &&  git clone https://github.com/ignc-research/ActorCollisionsPlugin
cd ActorCollisionsPlugin && mkdir build && cd build && cmake ..
make && echo "export GAZEBO_PLUGIN_PATH=$HOME/ActorCollisionsPlugin/build " >> ~/.bashrc

Gazbebo and Pedsim part

  • Install additional packages using rosdep
sudo apt install python-rosdep python-rospkg
sudo rosdep init
cd ~/catkin_ws/src/arena-rosnav-3D && rosws update
cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y
  • install submodules of pedsim
cd ~/catkin_ws/src/forks/pedsim_ros && git submodule update --init --recursive
cd ../../.. && catkin_make --only-pkg-with-deps spencer_tracking_rviz_plugin
catkin_make -DCATKIN_WHITELIST_PACKAGES=""

CADRL

For CADRL, you need an own environment with python 3.6. and tensorflow 1.4. If you are on Ubuntu 20.04, install python3.6-dev

sudo add-apt-repository ppa:deadsnakes/ppa
sudo apt-get update
sudo apt-get install python3.6-dev

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

source ~/.bashrc
mkvirtualenv --python=python3.6 cadrl
  • 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 gym netifaces pathlib filelock pyqt5 mpi4py lxml scipy defusedxml matplotlib tensorflow==1.4

Add arena-rosnav next to arena-rosnav-3D

  • Create a catkin_ws and clone this repo with its dependencies into your catkin_ws
sudo apt-get update
cd $HOME && mkdir -p arena_ws/src && cd arena_ws/src
git clone https://github.com/ignc-research/arena-rosnav.git -b noetic-devel
cd arena-rosnav && rosws update
  • Add the changes to your .bashrc file

    Note: to use arena-rosnav next to its 3D counterpart make sure to source only workspace at the time

echo "source $HOME/arena_ws/devel/setup.bash
export PYTHONPATH=$HOME/arena_ws/src/arena-rosnav:${PYTHONPATH}" >> ~/.bashrc
in your `.bashrc` this should look like this: 
source /home/usr/arena_ws/devel/setup.bash
export PYTHONPATH=/home/usr/arena_ws/src/arena-rosnav:/home/usr/arena_ws/devel/lib/python3/dist-packages:/opt/ros/noetic/lib/python3/dist-packages

Training with GPU RTX 3090

NOTE: This section has not been tested on arena-rosnav-3D

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

Trouble shooting

  • Follow this steps if you encounter the following stable-baseline related error:

      #### Trouble Shooting
  While trying the Quickstart you might encouter the following error in the second terminal:
  ```
  Traceback (most recent call last):
    File "scripts/training/train_agent.py", line 229, in <module>
      treshhold_type="succ", threshold=0.9, verbose=1)
  TypeError: __init__() got an unexpected keyword argument 'treshhold_type'
  ```
  This error can be resolved by updating your stable baselines and your workspace. Therefore run the following commands:
  ```
  cd $HOME/catkin_ws/src/forks/stable-baselines3
  pip install -e .
  ```
  ```
  cd $HOME/catkin_ws/src/arena-rosnav
  rosws update
  ```
  ```
  cd $HOME/catkin_ws
  catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3
  ```