https://github.com/wwwshwww/task_on_nav_robot_server
robo-gym environment of locomotion task using NavStack in randomized indoor simulation space
https://github.com/wwwshwww/task_on_nav_robot_server
navigation-stack openai-gym reinforcement-learning-environments robo-gym robotics
Last synced: 20 days ago
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robo-gym environment of locomotion task using NavStack in randomized indoor simulation space
- Host: GitHub
- URL: https://github.com/wwwshwww/task_on_nav_robot_server
- Owner: wwwshwww
- Created: 2021-01-26T05:46:02.000Z (over 5 years ago)
- Default Branch: master
- Last Pushed: 2021-08-01T00:48:09.000Z (almost 5 years ago)
- Last Synced: 2025-07-07T08:42:12.265Z (11 months ago)
- Topics: navigation-stack, openai-gym, reinforcement-learning-environments, robo-gym, robotics
- Language: Python
- Homepage:
- Size: 346 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
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README
# 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:
```bash
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
```bash
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.
```bash
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