DRL-for-Mobile-Robot-Navigation-Using-ROS2

Table of Contents

• DRL-for-Mobile-Robot-Navigation-Using-ROS2
  • Table of Contents
  • Project Structure
  • Requirements
    • Other requirements
  • Build
  • Training
  • Testing
  • Additional Demos

Project Structure

.
├── 📂 docs/: contains demo videos
│   ├── 📄 dynamic_environment.mp4
│   ├── 📄 slam.mp4
│   └── 📄 simulation.mp4
├── 📂 drl_agent/: main deep reinforcement learning agent directory
│   ├── 📂 config/: contains configuration files
│   ├── 📂 launch/: contains launch files
│   ├── 📂 scripts/: contains code for environment, policies, and utilities
│   └── 📂 temp/: stores models, logs, and results
├── 📂 drl_agent_description/: contains robot description files, models, and URDFs
│   ├── 📂 launch/: launch files for agent description
│   ├── 📂 meshes/: 3D models of the robot
│   ├── 📂 models/: contains specific model files for kinect sensors
│   └── 📂 urdf/: URDF files for camera, laser, and robot description
├── 📂 drl_agent_gazebo/: contains Gazebo simulation configuration and world files
│   ├── 📂 config/: simulation and SLAM configuration files
│   ├── 📂 launch/: Gazebo launch files for various setups
│   ├── 📂 models/: Gazebo models used in the simulation
│   └── 📂 worlds/: simulation worlds for training and testing environments
├── 📂 drl_agent_interfaces/: custom action, message, and service definitions
│   ├── 📂 action/: defines DRL session actions
│   ├── 📂 msg/: empty for now
│   └── 📂 srv/: service definitions for environment and robot interactions
├── 📂 velodyne_simulator/: Velodyne LiDAR simulation setup

Requirements

• Install Ubuntu 22.04
• Install ROS2 Humble
• Install Gazebo
• Install gazebo_ros_pkgs by running:

    sudo apt install ros-humble-gazebo-*
    

• Install PyTorch 2.3.1

Other requirements

pip install -r requirements.txt

Build

• Clone this repository:

    mkdir -p ~/drl_agent_ws/src
    cd ~/drl_agent_ws/src
    git clone --recurse-submodules git@github.com:anurye/DRL-for-Mobile-Robot-Navigation-Using-ROS2.git .
    

• Install dependencies:

    cd ~/drl_agent_ws
    rosdep install --from-path src -yi --rosdistro humble
    

• Build the workspace:

    cd ~/drl_agent_ws
    colcon build
    

Training

• Export the environment variable DRL_AGENT_SRC_PATH:

    echo 'export DRL_AGENT_SRC_PATH=~/drl_agent_ws/src/' >> ~/.bashrc
    source ~/.bashrc
    

• Launch the simulation:

  Terminal 1:

    cd ~/drl_agent_ws
    source install/setup.bash
    ros2 launch drl_agent_gazebo simulation.launch.py
    

[!NOTE] If gazebo is not starting, you may want to source it.

```bash

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