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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 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.

mkvirtualenv --python=python3.8 rosnav
workon 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 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 
cd .. && catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.bash
  • 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 $HOME &&  git clone https://github.com/eliastreis/ActorCollisionsPlugin.git
cd ActorCollisionsPlugin && mkdir build && cd build && cmake ..
make && echo "export GAZEBO_PLUGIN_PATH=$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

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/eliastreis/arena-rosnav.git
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/elias/arena_ws/devel/setup.bash
export PYTHONPATH=/home/elias/arena_ws/src/arena-rosnav:/home/elias/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
  ```