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MANUAL_INSTALLATION.md

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Manual Installation

The system has been tested with 20.04 (ROS Noetic).

Follow the tutorials to

Tentabot depends on the following libraries/packages:

Install catkin-simple package into the src folder.

Install mav_comm package into the src folder.

Install forest_gen package into the src folder.

Install octomap_rviz_plugins package into the src folder.

Install realsense_gazebo_plugin package into the src folder.

Install stretch_ros package into the src folder.

Install 'noetic-akmandor' branch of rotors_simulator package into the src folder.

Install 'noetic-akmandor' branch of pedsim_ros package into the src folder.

Install 'noetic-akmandor' branch of turtlebot3 package into the src folder.

Install 'noetic-akmandor' branch of LMS1xx package into the src folder.

Install 'noetic-akmandor' branch of geometry2 package into the src folder.

Install openai-ros package into the src folder.

Install tentabot package into the src folder.

cd ~/catkin_ws/src
git clone https://github.com/catkin/catkin_simple.git
git clone https://github.com/ethz-asl/mav_comm.git
git clone https://github.com/ethz-asl/forest_gen.git
git clone https://github.com/OctoMap/octomap_rviz_plugins.git
git clone https://github.com/pal-robotics/realsense_gazebo_plugin.git
git clone https://github.com/hello-robot/stretch_ros
git clone https://github.com/RIVeR-Lab/rotors_simulator.git 		#'noetic-akmandor' branch*
git clone https://github.com/RIVeR-Lab/pedsim_ros.git 				#'noetic-akmandor' branch*
git clone https://github.com/RIVeR-Lab/turtlebot3.git 				#'noetic-akmandor' branch*
git clone https://github.com/RIVeR-Lab/LMS1xx.git 					#'noetic-akmandor' branch*
git clone https://github.com/RIVeR-Lab/geometry2.git 				#'noetic-akmandor' branch*
git clone https://github.com/RIVeR-Lab/openai_ros.git
git clone https://github.com/RIVeR-Lab/tentabot.git
*Switch to 'noetic-akmandor' branch in the package (turtlebot3,LMS1xx,geometry2):
git checkout noetic-akmandor

(Required for Tentabot-DRL) Install stable-baselines3 Python package following their instructions.

Install ROS dependencies using rosdep tool:

Follow the instructions under 'Prerequisites' and install rosdep tool based on the ROS version: Noetic rosdep.

ROS Noetic example of installing dependencies using rosdep tools:

cd ~/catkin_ws
rosdep install --from-paths src --ignore-src -r -y

Install Python dependencies

pip install stable-baselines3[extra]
pip install GitPython
pip install squaternion