jeguzzi

Hands-on introduction to ROS

1. Part One

1.1 Install ROS

Install ROS kinetic (ros-kinetic-desktop-full)

http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment

jeguzzi

Thymio vrep simulation

Installation

1. Install the dependencies

sudo apt-get install libopencv-dev python-opencv

2. Download and install vrep 3.3.2 edu from http://www.coppeliarobotics.com/previousversions.html
3. Build the vrep plugin from the folder

jeguzzi

How to compile CoppeliaSim (v4.4) from source on Linux

Tested on Ubuntu 22.04 (arm64 and x64)

1. Install dependicies

---

• pip: sudo apt install python3-pip
• colcon: pip install -U colcon-common-extensions

jeguzzi

steps: 600
time_step: 0.03
scenario:
  type: CrossTorus
  side: 10
  groups:
    - type: wheelchair
      color: darkred
      number: 4
      radius: 0.25

jeguzzi

from navground import sim
from navground.learning import ControlActionConfig, DefaultObservationConfig, GroupConfig
from navground.learning.parallel_env import parallel_env, make_vec_from_penv
from navground.learning.rewards import SocialReward
from stable_baselines3 import SAC

# 1. Load a scenario
scenario = sim.load_scenario(...)

# 2. Create a training environmnent