Task seeking target in random cube room

The robot-server-side of robo-gym framework

Installation

Reference:

• https://github.com/jr-robotics/robo-gym
• https://github.com/jr-robotics/robo-gym-robot-servers

Docker

This Robot-Server side can use from docker image below.
moyash/robo-gym-rs:cuberoom

Usage:

docker run --rm --name robot-server -e DISPLAY=$DISPLAY moyash/robo-gym-rs:cuberoom bash -c "source /robogym_ws/devel/setup.bash && start-server-manager && tail -f /dev/null"

Manually

pip install --upgrade pip && pip install numpy-quaternion==2019.12.11.22.25.52 pcg_gazebo==0.7.12 roomor
cd ~/robogym_ws/src/robo-gym-robot-servers
git clone https://github.com/wwwshwww/task_on_nav_robot_server.git
cd ../../
rosdep install --from-paths src -i -y --rosdistro melodic
catkin build --cmake-args -DCMAKE_BUILD_TYPE=RelWithDebugInfo
source devel/setup.bash

And then, remove rospy.init_node() at /usr/local/lib/python2.7/dist-packages/pcg_gazebo/task_manager/gazebo_proxy.py by using command such as below.

sed -i -e '/^.*init_node.*/d' /usr/local/lib/python2.7/dist-packages/pcg_gazebo/task_manager/gazebo_proxy.py

Details

robot server state:

• map size: [1, ]
• actual data of Occupancy Grid: [map_size**2, ]
• trueth data of Occupancy Grid: [map_size**2, ]
• 2D pose of agent on the world frame (pos x, pos y, ori z): [3, ]
• agent twist (linear x, angular z): [2, ]
• flag of agent collision: [1, ]
• flag of to generate new room when resetting env: [1, ]
• flag of to generate new agent pose when resetting env: [1, ]
• parameters of room generator: [8, ]
• 2D poses of target on the world frame (pos x, pos y, ori z): [n*3, ]

Parameters of room generator is used for generating new room by CubeRoomGenerator.
Details: https://github.com/wwwshwww/roomor

robot server action

• 2D pose on the map frame for let agent to try to reach while step (pos x, pos y, ori z): [3, ]

Robot is controlled by move_base from Navigation Stack.

Environment Side

https://github.com/wwwshwww/task_on_nav_env