Humic ROS package

Paper

https://www.koreascience.or.kr/article/JAKO202124553294650.page

1. Installation ROS Noetic

ROS Version: Noetic(on Ubuntu 20.04)

Installation instructions

• http://wiki.ros.org/noetic/Installation/Ubuntu

Or script

• https://robocademy.com/2020/05/23/getting-started-with-new-ros-noetic-ninjemys/

  wget -c https://raw.githubusercontent.com/qboticslabs/ros_install_noetic/master/ros_install_noetic.sh && chmod +x ./ros_install_noetic.sh && ./ros_install_noetic.sh 
  

2. Configuring Your ROS Environment

• http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

3. Download HUMIC Package in Your Workspace

• Move to Your ROS workspace

  sudo apt-get install ros-noetic-vision-msgs
  cd ~/catkin_ws/src
  

• Clone HUMIC package

  git clone https://github.com/SeoulTech-HCIRLab/Humic.git
  

4. Build

  cd ~/catkin_ws/ && catkin_make

5. Run HUMIC URDF Model

• HUMIC in gazebo world

   roslaunch humic_gazebo humic.launch
  

  • URDF source code: https://github.com/SeoulTech-HCIRLab/Humic/tree/master/humic_description
  • Gazebo world source code: https://github.com/SeoulTech-HCIRLab/Humic/tree/master/humic_gazebo

• HUMIC rqt controller

   rqt
  

  • Source code: https://github.com/SeoulTech-HCIRLab/Humic/tree/master/humic_gui
  • http://wiki.ros.org/rqt
  • Plugins option: HUMIC Controller selection
  • Perspectives option: HUMIC GUI.perspective selection

6. Run HUMIC Navigation using reinforcement learning

• Source code: https://github.com/SeoulTech-HCIRLab/Humic/tree/master/humic_rl

• This package was tested with Noetic and python3

• Pytorch

• Terminate the gazebo, Terminate the HUMIC model in gazebo

• Run Navigation world

     roslaunch humic_rl humic_navigation.launch