Skip to content

Latest commit

 

History

History
330 lines (216 loc) · 7.66 KB

Installation.md

File metadata and controls

330 lines (216 loc) · 7.66 KB
Raw

1. Installation

Installation on Ubuntu 20 with ROS Noetic OR Ubuntu 16 with ROS Melodic using the installation script

Prerequisites

In order to use the install script you need to have Poetry, Python 3.8+ and the correct python-dev library for your Python version installed and available in your shell. It is important that your activated Python version is the one which you want to use for the Poetry virtual environment.

NLOPT (TODO: add to the one-line install script):

For Ubuntu 18 - ROS melodic

sudo apt update
sudo apt install python-nlopt

For Ubuntu 20, this needs to be manually compiled

git clone https://github.com/stevengj/nlopt
cd nlopt
mkdir build
cd build
cmake ..
make
sudo make install

Installation

Navigate to the directory, where you want your code to reside and execute our install script which sets everything up:

. <(curl -sSL https://raw.githubusercontent.com/ignc-research/arena-rosnav/local_planner_subgoalmode/install.sh)

If you have troubles with the installation we recommend to step through the installation script by hand or follow the manual installation procedure below and replacing melodic by noetic in the respective places. Pay attention to selecting the correct .rosinstall in the project root directory as well.

Manual Installation (Melodic or Noetic)

1.1. Standard ROS setup

(Code has been tested with ROS-melodic on Ubuntu 18.04 and Python 3.6, and ROS-Noetic on Ubuntu 20.04)

  • 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
  • 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 \
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

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 $HOME
mkdir python_env   # create a venv folder in your home directory
  • Add exports into your .bashrc (if you use zsh change the last line to bashrc instead of bashrc):
echo "export WORKON_HOME=$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
source ~/.bashrc
  • Create a new venv

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

=======

origin/noetic-devel

mkvirtualenv --python=python3.8 rosnav
workon rosnav
  • Install packages inside your venv (venv always activated!):
<<<<<<< HEAD
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

======= 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 aliyun-fc2


>>>>>>> origin/noetic-devel

#### 1.3. Install arena-rosnav repo

- Create a arena_ws and clone this repo into your arena_ws

cd $HOME mkdir -p arena_ws/src && cd arena_ws/src git clone https://github.com/ignc-research/arena-rosnav -b noetic-devel

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

cd $HOME/arena_ws/src/arena-rosnav ./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 /$HOME/arena_ws/devel/setup.zsh export PYTHONPATH=$HOME/arena_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/arena_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 arena_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/arena_ws/src/arena-rosnav rosws update


pull latest ignc-flatland version

cd $HOME/arena_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 .

source $HOME/.bashrc
cd ../..
catkin_make -DCMAKE_BUILD_TYPE=Release -DPYTHON_EXECUTABLE=/usr/bin/python3 -DCMAKE_CXX_STANDARD=14

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

Training with GPU RTX 3090

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