Dynamic_Navigation

A Gazebo simulation for robot navigation in dynamics via deep reinforcement learning

Dependencies

• Ubuntu 16.04
• ROS-kinetic
• Gazebo 8 (with actor suport)

Build

1. Add the repositories of Gazebo 8 and ROS kinetic

2. Build packages

for tf2 support for python, you must use the following cmd:

catkin_make --cmake-args \
        -DCMAKE_BUILD_TYPE=Release \
        -DPYTHON_EXECUTABLE=/usr/bin/python3 \
        -DPYTHON_INCLUDE_DIR=/usr/include/python3.5m \
        -DPYTHON_LIBRARY=/usr/lib/x86_64-linux-gnu/libpython3.5m.so

Test

Start

1. 启用：

Problem & solution

1. gazebo中行人collision属性

这个问题困扰我很久, 然后刚巧被同学研究解决了, 原博文 link

1. 下载 actor_collisions.tar.gz(gazebo 行人碰撞插件 穿墙), 后续考虑整合进该项目. 目前文件保存在./src/gym_ped_sim/actor_collisions.
2. 在下载好的目录下编译, 生成.so文件.

cmake .
make 

3. 测试是否成功:

export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:~/Documents/actor_collisions
gazebo actor_collisions.world

如果出现了行人, 并且可以右键查看到collision橙色. 说明成功了.

4. 应用到项目:

• 在~/.zshrc里面 export GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:.../actor_collisions
• 在含行人的.world文件中, 需要在<actor>标签下添加<plugin>内容来实现collision的效果, 具体内容查看 actor_collisions.world 文件内容.

    <plugin name="actor_collisions_plugin" filename="libActorCollisionsPlugin.so">
        ......
        </plugin>

• 更改laser插件内容, 需要带gpu的雷达才能在gazebo中实现对行人collision的检测:

将<sensor type="ray" name="laser_sensor"> -> <sensor type="gpu_ray" name="laser_sensor">.

讲<plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so"> -> <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_gpu_laser.so">.