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
git rm --cached gym_ped_sim/actor_plugin/lib/*.so
This is used to call the service in gazebo to build environment
1 command to sapwn a world
catkin_make
source devel/setup.bash
roslaunch turtlebot3_gazebo turtlebot3_stage_3.launch
2 command to sapwn env from the 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
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
export TURTLEBOT3_MODEL=burger
roslaunch turtlebot3_social mySimpleWorld.launch gui:=true
8 command to launch several gazebo to train
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
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
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
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
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
mpiexec --allow-run-as-root -np 24 python ppo_stage1.py