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https://github.com/lehoangan2906/drl-nav-modified
https://github.com/lehoangan2906/drl-nav-modified
Last synced: 8 days ago
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- Host: GitHub
- URL: https://github.com/lehoangan2906/drl-nav-modified
- Owner: lehoangan2906
- Created: 2024-08-03T19:07:10.000Z (6 months ago)
- Default Branch: main
- Last Pushed: 2024-08-05T03:37:52.000Z (6 months ago)
- Last Synced: 2024-08-05T04:47:41.129Z (6 months ago)
- Language: Python
- Size: 78.8 MB
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# ROS2 DRL Robot Navigation Project
This document provides instructions to set up and run the ROS2-based DRL Robot Navigation project.
## Project Structure
```
text
TD3
├── __pycache__
│ ├── replay_buffer.cpython-38.pyc
│ ├── replay_buffer2.cpython-38.pyc
│ └── velodyne_env.cpython-38.pyc
├── assets
│ ├── multi_robot_scenario.launch
│ └── multi_robot_scenario.launch.py
├── pytorch_models
│ ├── TD3_velodyne_actor.pth
│ ├── TD3_velodyne_critic.pth
│ └── description
├── results
│ ├── TD3_velodyne.npy
│ └── description
├── runs
│ ├── Jul10_10-26-18_vtx
│ ├── Jul10_10-28-12_vtx
| |...
│ ├── Jul11_09-52-09_vtx
│ ├── Jul11_09-57-52_vtx
│ ├── May24_11-27-38_vtx
│ └── description
├── small_house
│ ├── maps
│ ├── models
│ ├── photos
│ └── small_house.world
└── src
├── CMakeLists.txt
├── package.xml
├── replay_buffer.py
├── test_velodyne_td3.py
├── train_velodyne_td3.py
└── velodyne_env.py
```
## Setup Instructions
### Step 1: Clone the Project Repository
```bash
git clone
cd TD3
```
### Step 2: Clone TurtleBot3 and Dependencies
Navigate to your `src` folder:
```bash
cd src
```
Clone the TurtleBot3 repositories:
```bash
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b foxy-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
```
### Step 3: Install Dependencies
Make sure you have all the necessary dependencies installed:
```bash
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -r -y
```
### Step 4: Build Your Workspace
Navigate back to the root of your workspace and build it using colcon:
```bash
cd ..
colcon build
```
### Step 5: Source the Setup Script
Source the setup script to overlay this workspace on top of your environment:
```bash
source install/setup.bash
```
## Running the Project
### Step 1: Launch the Simulation
In one terminal, navigate to the root of your workspace and launch the simulation environment:
```bash
source install/setup.bash
ros2 launch multi_robot_scenario.launch.py
```
### Step 2: Run the DRL Test Script
In another terminal, navigate to the root of your workspace, source the setup script, and run the test script:
```bash
source install/setup.bash
python3 src/test_velodyne_td3.py
```
This will start the DRL testing process using the TurtleBot3 in the Gazebo simulation environment.