Follow this until step.7
Install Conda and Poetry
// conda
wget https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
bash Miniconda3-latest-Linux-x86_64.sh
source ~/.bashrc
conda config --set auto_activate_base false
conda create -n rosnav python=3.8
// poetry
curl -sSL https://install.python-poetry.org | python3 -
echo 'export PATH="$HOME/.local/bin:$PATH"'>> ~/.bashrc
source ~/.bashrc
poetry config virtualenvs.create false
//activate conda
conda activate rosnav
Clone repo in any catkin ws or create new catkin ws
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/zenghjian/arena-rosnav
Change into dir
cd arena-rosnav
Ros install
rosws update
Install python pkgs, you need poetry for this
poetry shell && poetry install
Install stable baselines
cd ../utils/stable-baselines3 && pip install -e .
Install arena2d requirements
sudo apt-get install cmake libsdl2-dev libfreetype-dev
Build catkin
cd ../../.. && catkin_make -DUSE_ROS=ON
Finished!
Open Terminal 1 (Run roslaunch)
cd ~/catkin_ws
source devel/setup.bash
roslaunch arena_bringup start_arena.launch
// roslaunch arena_bringup arena2d_simulator.launch
// only for arena2d
Open Terminal 2 (Run Script)
cd ~/catkin_ws
source devel/setup.bash
cd src/arena-rosnav/
conda activate rosnav
poetry shell
cd ../utils/arena2d/rl-ros-agents/
python scripts/training/train_ppo.py
Everything
conda rosnav
poetry shell
pip uninstall torch
pip list | grep torch
conda list | grep torch
pip3 install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu113