bosshuan / social_navigation

Social-Friendly Safe Delivery Robot Project

Installation

1. ROS installation

please refer http://wiki.ros.org/melodic/Installation/Ubuntu

2. Clone repository and build

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone https://github.com/OhJeongwoo/social_navigation.git
cd ..
catkin_make

echo "source ~/catkin_ws/src/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

Pedestrian Detection

1. Install realsense2-ros package

please refer https://github.com/IntelRealSense/realsense-ros

sudo apt-get install ros-$ROS_DISTRO-realsense2-camera
cd ~/catkin_ws
git clone https://github.com/IntelRealSense/realsense-ros.git
cd realsense-ros/
git checkout `git tag | sort -V | grep -P "^2.\d+\.\d+" | tail -1`
cd ..
catkin_init_workspace
cd ..
catkin_make clean
catkin_make -DCATKIN_ENABLE_TESTING=False -DCMAKE_BUILD_TYPE=Release
catkin_make install

2. Install Detectron2

please refer https://detectron2.readthedocs.io/en/latest/tutorials/install.html

3. Launch Pedestrian Detection Algorithm (jeongwoo version)

roslaunch realsense2_camera rs_camera.launch filters:=pointcloud align_depth:=true

open another terminal

roscd social_navigation
cd scripts
python3 pedestrian_detector.py

and open another terminal

rosrun social_navigation depth2pc

Reinforcement Learning in GAZEBO

Terminal 1

roslaunch social_navigation default.launch

Terminal 2

roscd social_navigation
cd scripts
python2 gazebo_master.py

Terminal 3

roscd social_navigation
cd scripts
python {YOUR_CODE}.py