habitat_ros

Integrate Habitat simulator with ROS

Requirements

• ROS version at least Kinetic
• CMake version at least 2.8.3
• Python version at least 3.4
• Habitat simulator
• Python packages: numpy, gym, keyboard, cv_bridge

Installation

1. Install ROS on your system (https://www.ros.org/install/).

2. Clone this repo into your ROS workspace (e.g. ~/catkin_ws/src), and run catkin_make.

3. Download and build Habitat-sim and Habitat-lab.

4. Install required Python packages: pip install -r requirements.txt

5. In file habitat-lab/habitat/tasks/nav/nav.py, find method step in class StopAction, and change line task.is_stop_called = True to task.is_stop_called=False in code of this method.

6. Rebuild habitat-lab.

Launch

1. Open terminal and enable root (e.g. via sudo su command).

2. Run agent in simulator with keyboard operation via roslaunch habitat_ros keyboard_agent.launch.

Node parameters

• rgb_topic (default: None) - topic to publish RGB image from simulator
• depth_topic (default: None) - topic to publish depth image from simulator
• camera_info_topic (default: None) - topic to publish information about camera calibration (read from file)
• camera_calib (default: None) - path to camera calibration file