mobiman-igibson

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References:

• iGibson (master)

iGibson Installation:

1. Install python library:

pip install igibson

2. Clone the igibson repository into a folder, such as "projects":

cd
mkdir projects
cd projects
git clone [email protected]:RIVeR-Lab/iGibson.git --recursive
cd iGibson
git checkout mobiman-devel-v0
pip install -e .

3. Clone the igibson repo into the src folder of a catkin workspace, such as "catkin_ws":

cd ~/catkin_ws/src
ln -s ~/projects/iGibson/igibson/examples/ros/igibson-ros/ .
cd ..

4. Install ROS dependencies:

rosdep install --from-paths src --ignore-src -r -y

5. Build and source:

catkin build
source devel/setup.bash

6. Download assets:

6.1 Download the robot models and some small objects as in iGibson's documentation.

python -m igibson.utils.assets_utils --download_assets

6.2 Clone the sim_utility repository into a folder.

git clone [email protected]:RIVeR-Lab/sim_utility.git

6.3 Copy the jackal_jaco and ycb folders into "iGibson/igibson/data/assets/models" folder.

Example 1: Multi-Turtlebot simulation in iGibson and observations are published in ROS:

In a terminal, within igibson-ros workspace:

1. Start ROS and simulation in iGibson:

roslaunch igibson-ros turtlebot_rgbd_multi.launch

Example 2: Multi-Turtlebot training, in iGibson simulator, using Stable-Baselines3 and observations are published in ROS:

In a seperate terminal, :

1. In a terminal within the igibson-ros workspace, start ROS:

roslaunch igibson-ros stable_baselines3_ros_turtlebot_multi.launch

2. In a terminal within the scripts folder in the igibson-ros workspace:

2.1 Source the ROS workspace:

source ~/catkin_ws/devel/setup.bash

2.2. Run the script:

# cd igibson/examples/ros/igibson-ros/scripts/
python stable_baselines3_ros_turtlebot.py