hsuchaochun / vrx

vrx gazebo

MOST-Student-Project-2020

Dependencies

• docker-ce
• nvidia-docker
• gpu support nvidia-docker

Docker

pull docker image

$ docker pull juite/vrx

Run docker

clone repo

$ git clone http://github.com/huangjuite/vrx
$ cd vrx

run docker

$ source docker_run.sh

open another docker terminal

$ source docker_join.sh

compile ros workspace in docker

# cd vrx
# source catkin_make.sh

open procman in docker

# cd vrx
# source environment.sh
# source start_vrx.sh

procman hot-key

Hot Key	Function
Ctrl + S	Start
Ctrl + T	Stop
Ctrl + R	Restart
Ctrl + A	Select All

Run experiments

plug a joystick first

single boat RDPG

• start 02_gazebo_single
• start 03_teleop
• start 04_rl
• run evaluation

cd ~/vrx/catkin_ws/src/rl_navigation/src && python eval.py

single boat HRVO

• start 02_gazebo_single
• start 03_teleop
• start 06_single_hrvo

multi boat RDPG

• start 02_gazebo_multi
• start 04_rl_multi
• start 04_rl_state

multi boat HRVO

• start 02_gazebo_multi
• start 06_multi_hrvo

rviz

• start rviz

Video

click gif to watch full video

Reference

vrx gazebo : https://bitbucket.org/osrf/vrx/src/default/