Merge pull request #299 from leggedrobotics/dev/sim_jackal_example

Jackal example and docker container

.gitignore

@@ -1,6 +1,7 @@
 .neptune*
 wild_visual_navigation/.neptune*
 wild_visual_navigation/notebooks*
+wild_visual_navigation_ros/output*
 results/*
 assets/dino/*
 assets/stego/cocostuff27_vit_base_5.ckpt

README.md

@@ -200,6 +200,13 @@ python wild_visual_navigation_ros/scripts/wvn_learning_node.py
 
 ## Development
 
+### Install pre-commit
+```shell
+pip3 install pre-commit
+cd wild_visual_navigation && python3 -m pre_commit install
+cd wild_visual_navigation && python3 -m pre_commit run
+```
+
 ### Code formatting
 ```shell
 # for formatting

docker/Dockerfile

@@ -1,7 +1,7 @@
 #####################
 # Base image #
 #####################
-FROM nvidia/cuda:11.8.0-runtime-ubuntu20.04 as base
+FROM nvidia/cuda:12.3.2-runtime-ubuntu20.04 as base
 
 # Labels
 LABEL maintainer="Matias Mattamala;Jonas Frey"
@@ -80,7 +80,7 @@ RUN cd /root \
          termcolor \
          pydensecrf@git+https://github.com/lucasb-eyer/pydensecrf.git \
          liegroups@git+https://github.com/mmattamala/liegroups \
-         opencv-python>=4.6
+         opencv-python
 
 # ==
 # Remove cache and extra files
@@ -97,7 +97,7 @@ ARG DEBIAN_FRONTEND=dialog
 # Run bash
 # ==
 CMD ["/bin/bash"]
-WORKDIR /root
+WORKDIR /root/catkin_ws
 
 
 ###############################################################
@@ -109,7 +109,7 @@ FROM base as dev
 
 ENV DEBIAN_FRONTEND=noninteractive
 
-RUN mkdir -p catkin_ws/src \
+RUN mkdir -p /root/catkin_ws/src \
     && source /opt/ros/noetic/setup.bash \
     && source "/root/.bashrc" \
     && cd /root/catkin_ws && catkin build \

docker/README.md

@@ -1,17 +1,24 @@
-# Docker files
+# Jackal Simulation Demo
 
-## Build and run containers
+We provide an example package to demonstrate Wild Visual Navigation on a simulated environment with a Clearpath Jackal robot.
+
+This example should be self-contained and it should run on a Docker container. This was tested on Ubuntu machines, we do not expect the GUI to run on Windows or Mac computers (due to X11 support).
+
+
+## Build the image
 
 To build the container:
 
 ```sh
-docker compose -f docker-compose.yaml build
+docker compose -f docker-compose-gui-nvidia.yaml build
 ```
 
+## Run the container
+
 To run the container (terminal-based):
 
 ```sh
-docker compose -f docker-compose.yaml up -d
+docker compose -f docker-compose-gui-nvidia.yaml up -d
 ```
 
 To launch bash on the container:
@@ -20,15 +27,48 @@ To launch bash on the container:
 docker compose exec wvn bash
 ```
 
+## Stop the container
+
 To stop the container:
 
 ```sh
 docker compose -f docker-compose.yaml stop
 ```
 
-To run the GUI-enabled version and check the Gazebo environment:
+## Running Wild Visual Navigation
+
+You can either run the following commands in 4 terminals that initialize a bash terminal in the container, or you can use VS Code with the Docker extension to instantiate terminal in the container directly.
+
+### Launch Jackal sim
+
+```sh
+roslaunch wild_visual_navigation_jackal sim.launch 
+```
+
+### Launch WVN
+
+```sh
+roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
+```
+
+### Launch Teleop node
+
+```sh
+roslaunch wild_visual_navigation_jackal teleop.launch 
+```
+
+### Launch RViz window
+
+```sh
+roslaunch wild_visual_navigation_jackal view.launch 
+```
+
+
+## Troubleshooting
+
+If the GUI doesn't work, you might need to allow the X Server to connect before running the container:
 
 ```sh
-docker compose -f docker-compose-gui.yaml up -d
-docker compose exec wvn_gui bash
+xhost +Local:*
+xhost
 ```

docker/docker-compose-gui-nvidia.yaml

@@ -1,6 +1,6 @@
 version: "3.9"
 services:
-  wvn:
+  wvn_nvidia:
     extends:
       file: docker-compose-gui.yaml
       service: wvn

docker/docker-compose-nvidia.yaml

@@ -1,6 +1,6 @@
 version: "3.9"
 services:
-  wvn:
+  wvn_nvidia:
     extends:
       file: docker-compose.yaml
       service: wvn

docker/docker-compose.yaml

@@ -11,7 +11,6 @@ services:
     volumes:
       - ../../wild_visual_navigation:/root/catkin_ws/src/wild_visual_navigation
       - ../../self_supervised_segmentation:/root/catkin_ws/src/self_supervised_segmentation
-      - ../../segment-anything:/root/catkin_ws/src/segment-anything
     environment:
       - ROS_IP=127.0.0.1
     command: "/bin/bash"

wild_visual_navigation_sim/CMakeLists.txt → wild_visual_navigation_jackal/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(wild_visual_navigation_sim)
+project(wild_visual_navigation_jackal)
 
 find_package(catkin REQUIRED COMPONENTS
   rospy
@@ -24,4 +24,10 @@ catkin_package(
 message(${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY launch Media worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-)
+)
+
+############
+## Python ##
+############
+catkin_install_python(PROGRAMS scripts/jackal_state_converter_node.py
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

wild_visual_navigation_jackal/README.md

@@ -0,0 +1,39 @@
+# Wild Visual Navigation Sim
+
+Simulation environment to test Wild Visual Navigation (WVN). We use a modified Clearpath Jackal (adding a camera).
+
+## Requirements
+
+
+```sh
+wget https://packages.clearpathrobotics.com/public.key -O - | sudo apt-key add -
+sudo sh -c 'echo "deb https://packages.clearpathrobotics.com/stable/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/clearpath-latest.list'
+sudo apt-get update
+```
+
+```sh
+sudo apt update 
+sudo apt install -y \
+        ros-noetic-jackal-simulator \
+        ros-noetic-jackal-desktop \
+        ros-noetic-teleop-twist-keyboard \
+        ros-noetic-rqt-robot-steering \
+```
+
+## Running
+
+```sh
+roslaunch wild_visual_navigation_jackal sim.launch
+```
+
+```sh
+roslaunch wild_visual_navigation_jackal teleop.launch
+```
+
+```sh
+roslaunch wild_visual_navigation_jackal view.launch
+```
+
+```sh
+roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
+```