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MLDA_EEE

BARN.mp4

This is the repository for the proposed solution of Team MLDA_EEE (Machine Learning & Data Analytics) from Nanyang Technological University, Singapore

The original readme file is in README_BARN.md

Navigation Stack

Launch file at ./jackal_helper/launch/move_base_mlda.launch Source files at ./mlda_algo

  • run_rviz_auto_start.py: run the mpc_node.py and the nav stack with rviz
  • run_rviz_no_collision_nor_time.py: run the environment only, use the 2D pose in rviz to set arbitrary goal to test the nav stack

Container Environment

Singularity Image

We use Go 1.20 and Singularity 4.0.2 Help with Singularity

# Build image name 'nav_competition_image.sif'
sudo singularity build --notest nav_competition_image.sif Singularityfile.def


# Run
./singularity_run.sh ./nav_competition_image.sif python3 run.py --world_idx 0
  • On Ubuntu 18.04 Machine

We can build and run the Singularity image. Recommended to build this with 18.04 and 20.04 machines

  • On Ubuntu 22.04 Machine

We can build the Singularity image but it cannot execute the run.py program through it due to GLIBC=2.34 missing error and we cannot fix. In the .def file, we also installed all the necessary ros-melodic-* packages instead of relying on rosdep

Docker Image

This is the docker image for the April 1st Soft-Deadline submission

docker pull mldarobotics/barn2024:april1

Start the docker container named barn in the background. Use VSCode Dev Container extension to connect to the running container

# Allow GUI to be displayed
xhost +

# No Nvidia Container
docker run --rm -dt --name barn \
  -e DISPLAY=$DISPLAY \
  -e QT_X11_NO_MITSHM=1 \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  mldarobotics/barn2024:april1


# Nvidia Container
docker run --rm -dt --name barn \
  --gpus all \
  -e DISPLAY="$DISPLAY" \
  -e QT_X11_NO_MITSHM=1 \
  -e LIBGL_ALWAYS_SOFTWARE=1 \
  -e NVIDIA_DRIVER_CAPABILITIES=all \
  -v /tmp/.X11-unix:/tmp/.X11-unix \
  mldarobotics/barn2024:april1

In the docker, the folder structure is similar to the suggested folder structure in the original README_BARN.md

# Navigate to this folder in the container
cd /jackal_ws/src/mlda-barn-2024/

# standard
python3 run.py --world_idx 0 --gui

# with rviz
python3 run_rviz.py --world_idx 0 --gui

Gazebo World

All of 300 worlds .world files have their initial camera angle changed for ease of viewing and troubleshooting

<gui fullscreen="0">
  <camera name="user_camera">
    <pose frame="">-2 4 10 0 1.57 3.14</pose>
    <view_controller>orbit</view_controller>
    <projection_type>perspective</projection_type>
  </camera>
</gui>

DYNABarn is not used