Sim_gazebo

pre-requirements:

apt-get install ros-melodic-move-base    
apt-get install ros-melodic-move-base-msgs   
sudo apt-get install coinor-libcoinutils-dev    
sudo apt-get install coinor-libclp-dev     
apt-get install coinor-libcbc-dev   
pip install tensorflow-gpu   
pip install gym        

remove so from git

git rm --cached gym_ped_sim/actor_plugin/lib/*.so    

This is used to call the service in gazebo to build environment

video here

1 command to sapwn a world

catkin folder:

catkin_make 
source devel/setup.bash      
roslaunch turtlebot3_gazebo turtlebot3_stage_3.launch    

2 command to sapwn env from the map

loading slam map

rosrun map_server map_server RL_Ws/turtleBo_ws/map5.yaml    

convert occupancyMap to sensor_msg/Image

rosrun basics occmap_converter.py      

using openCV to find contours

 roslaunch opencv_apps convex_hull.launch threshold:=225     

build gazebo env

roslaunch gazebo_ros empty_world.launch     
rosrun basics spawn_map.py       

3 command to spawn the map from launch file

roslaunch basics my_spawn_map.launch     

4 command to spawn the room from launch file

sensing the polygon, and spawn the cylinder in the centroid

roslaunch basics my_spawn_room.launch     

5 command to spawn the fancy world

rosrun basics my_spawn_fancyRoom.py   

6 command to make the actor plugins

catkin_make --pkg actor_services actor_plugin turtlebot3_social         
catkin_make --pkg actor_collisions_plugins          

7 command to launch the world with people

tutorial how to make people detected by laser

export TURTLEBOT3_MODEL=burger       
roslaunch turtlebot3_social mySimpleWorld.launch  gui:=true              

8 command to launch several gazebo to train

tutorial launch different gazebo here

vedio here

roslaunch turtlebot3_social myDefault.launch gui:=true    
export TURTLEBOT3_MODEL=burger       
export ROS_MASTER_URI=http://localhost:11315        
export GAZEBO_MASTER_URI=http://localhost:11356     
roslaunch turtlebot3_social mySimpleWorld.launch gui:=true     

9 command spawn the world file and launch gazebo with the world

rosrun actor_services passing_wall_4.py       
roslaunch actor_services ped_launch_passing_4.launch       

10 command to spawn three worlds

terminal1:

export ROS_MASTER_URI=http://localhost:11315         
export GAZEBO_MASTER_URI=http://localhost:11356      
export TURTLEBOT3_MODEL=burger        
roslaunch turtlebot3_social mySimpleWorld.launch gui:=true        

terminal2:

export ROS_MASTER_URI=http://localhost:11317         
export GAZEBO_MASTER_URI=http://localhost:11358      
export TURTLEBOT3_MODEL=burger        
roslaunch turtlebot3_social myDefault.launch gui:=true          

terminal3:

roslaunch turtlebot3_social myFancyRoom.launch gui:=true         
rosrun basics my_spawn_fancyRoom.py            

11 command to do converge path planning

rosrun iproom_exploration room_exploration_server         
roslaunch basics my_cpp.launch            

12 command to train RL

roslaunch turtlebot3_RL  turtlebot3_house_envRL.launch       
roslaunch turtlebot3_RL turtlebot3_PPO_house_v1.launch   

13 command to run the stage_ros

export STG=/home/stage4   
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$STG/libstage    
roscore   
rosrun stage_ros_add_pose_and_crash stageros -g path/world    

14 command to run mpi

mpiexec --allow-run-as-root -np 24 python ppo_stage1.py