Skip to content

Latest commit

 

History

History
193 lines (167 loc) · 5.25 KB

Installation.md

File metadata and controls

193 lines (167 loc) · 5.25 KB
Raw

1. Installation

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.zsh" >> ~/.zshrc
source ~/.zshrc
  • 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 \

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 $HOME
mkdir python_env   # create a venv folder in your home directory
  • Add exports into your .zshrc (if you use bash change the last line to bashrc instead of zshrc):
echo "export WORKON_HOME=$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" >> ~/.zshrc
  • Create a new venv
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
  • Install stable_baselines3 for training DRL into your venv (venv always activated!)
pip install stable-baselines3

1.3. Install arena-rosnav 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/ignc-research/arena-rosnav

cd arena-rosnav && rosws update
source $HOME/.zshrc
cd ../.. 
catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3
source devel/setup.zsh

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

  • Install ros 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. We provided a script to automately install this and do some additional configurations for the convenience . You can simply run it with

./geometry2_install.sh

If the command failed to compile:

cd $HOME/geometry2_ws
catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3
  • Set python path in .zshrc (or .bashrc if you use that)
nano ~/.zshrc

Add these lines below "source/opt/ros/melodic/setup.zsh"

source /$HOME/catkin_ws/devel/setup.zsh
export PYTHONPATH=$HOME/catkin_ws/src/arena-rosnav:${PYTHONPATH}
export PYTHONPATH=$HOME/geometry2_ws/devel/lib/python3/dist-packages:${PYTHONPATH}

Add this line above "source/opt/ros/melodic/setup.zsh"

export PYTHONPATH=""
  • Install CADRL dependencies (venv always activated!)
workon rosnav
cd $HOME/catkin_ws/src/arena-rosnav/arena_navigation/arena_local_planner/model_based/cadrl_ros
pip install -r requirements_cadrl.txt

If you encounter errors, e.g. specific versions not found, please manually install the packages with an available version. You only need this to run our cadrl node, if you dont plan to use it, skip this step.

  • Inside forks/stable_baselines3
pip install -e .
  • inside catkin_ws:
catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3

Update after developing flatland code

After changes inside the forks/flatland folder you should do the following steps to fetch the latest version:

cd $HOME/catkin_ws/src/arena-rosnav
rosws update

pull latest ignc-flatland version

cd $HOME/catkin_ws/src/forks/flatland
git pull

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 .