Merge pull request #302 from leggedrobotics/dev/jackal-sim-improvements

Jackal simulation completed

docker/Dockerfile

@@ -123,4 +123,6 @@ RUN mkdir -p /root/catkin_ws/src \
 
 RUN echo "source /root/catkin_ws/devel/setup.bash" >> ~/.bashrc
 RUN echo "source /root/env/bin/activate" >> ~/.bashrc
+
+COPY docker/first_run.sh first_run.sh
 ENV DEBIAN_FRONTEND=dialog

docker/README.md

@@ -5,70 +5,95 @@ We provide an example package to demonstrate Wild Visual Navigation on a simulat
 This example should be self-contained and it should run on a Docker container. This was tested on Ubuntu machines, we do not expect the GUI to run on Windows or Mac computers (due to X11 support).
 
 
-## Build the image
 
-To build the container:
+## Preliminaries
+The instructions assume you have Docker installed. If you haven't used Docker before, please take a look at the excellent resources prepared by Tobit Flatscher in [docker-for-robotics](https://github.com/2b-t/docker-for-robotics), which this demo builds upon.
+
+# Get the required repositories
+First clone the WVN and our STEGO reimplementation.
+```shell
+mkdir ~/git && cd ~/git 
+git clone [email protected]:leggedrobotics/wild_visual_navigation.git
+git clone [email protected]:leggedrobotics/self_supervised_segmentation.git
+```
+
+Then, go to the `docker` folder in `wild_visual_navigation`
+
+```shell
+cd ~/git/wild_visual_navigation/docker
+```
+
+> Note: All the following commands must be executed in this folder
+
+## Build the image
+Build the Docker image running:
 
 ```sh
 docker compose -f docker-compose-gui-nvidia.yaml build
 ```
 
-## Run the container
+## Run the simulation environment in the container
 
-To run the container (terminal-based):
+Start the container in detached mode:
 
 ```sh
 docker compose -f docker-compose-gui-nvidia.yaml up -d
 ```
 
-To launch bash on the container:
+Launch a first bash terminal in the container to start the simulation environment:
 
 ```sh
-docker compose exec wvn bash
+docker compose -f docker-compose-gui-nvidia.yaml exec wvn_nvidia /bin/bash
 ```
 
-## Stop the container
-
-To stop the container:
+Once in the container, source the `first_run` script to install the WVN package that is mounted automatically when the container starts:
 
 ```sh
-docker compose -f docker-compose.yaml stop
+source first_run.sh
 ```
 
-## Running Wild Visual Navigation
-
-You can either run the following commands in 4 terminals that initialize a bash terminal in the container, or you can use VS Code with the Docker extension to instantiate terminal in the container directly.
-
-### Launch Jackal sim
+Launch the Gazebo simulation environment and an RViz window as the main interface.
 
 ```sh
 roslaunch wild_visual_navigation_jackal sim.launch 
 ```
+If this doesn't open any window, please check the troubleshooting section below.
 
-### Launch WVN
+
+Open a new terminal to launch WVN in the same container:
 
 ```sh
-roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
+docker compose -f docker-compose-gui-nvidia.yaml exec wvn_nvidia /bin/bash
 ```
 
-### Launch Teleop node
-
+And then, once you are in the container:
 ```sh
-roslaunch wild_visual_navigation_jackal teleop.launch 
+roslaunch wild_visual_navigation_jackal wild_visual_navigation.launch
 ```
 
-### Launch RViz window
+Wait until the Rviz window show the simulation environment. Once it's ready, you can drive the Jackal robot by sending 2D Nav goals using RViz. We implemented a simple [carrot follower](../wild_visual_navigation_jackal/scripts/carrot_follower.py) that was tuned for the demo (not actually used in real experiments)
+
+
+## Stop the example
+
+Kill all the terminals as usual (Ctrl + D). Then, stop the container using:
 
 ```sh
-roslaunch wild_visual_navigation_jackal view.launch 
+docker compose -f docker-compose-gui-nvidia.yaml down
 ```
 
-
 ## Troubleshooting
 
-If the GUI doesn't work, you might need to allow the X Server to connect before running the container:
+If RViz doesn't show up, you'll see an error like this in the terminal:
+
+> No protocol specified
+> qt.qpa.xcb: could not connect to display :1
+
+To fix it, you might need to allow the X Server to connect before running the container. Stop everything (including the container) and then run:
 
 ```sh
 xhost +Local:*
 xhost
 ```
+
+Then restart the container and run the other commands. Now RViz should pop up.

docker/docker-compose-gui-nvidia.yaml

@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn_nvidia:
     extends:

docker/docker-compose-gui.yaml

@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn:
     extends:

docker/docker-compose-nvidia.yaml

@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn_nvidia:
     extends:

docker/docker-compose.yaml

@@ -1,4 +1,3 @@
-version: "3.9"
 services:
   wvn:
     build:
@@ -13,10 +12,4 @@ services:
       - ../../self_supervised_segmentation:/root/catkin_ws/src/self_supervised_segmentation
     environment:
       - ROS_IP=127.0.0.1
-    command: "/bin/bash"
-    # command: >
-    #   /bin/bash -c "pip3 install -e /root/catkin_ws/src/wild_visual_navigation
-    #           && pip3 install -e /root/catkin_ws/src/self_supervised_segmentation
-    #           && cd /root/catkin_ws && catkin build
-    #           && cd /root
-    #           && source /root/catkin_ws/devel/setup.bash"
+    command: "/bin/bash"

docker/first_run.sh

@@ -0,0 +1,15 @@
+#!/bin/bash
+
+echo "pip3 install -e /root/catkin_ws/src/self_supervised_segmentation ..."
+pip3 install -e /root/catkin_ws/src/self_supervised_segmentation > /dev/null
+
+echo "pip3 install -e /root/catkin_ws/src/wild_visual_navigation ..."
+pip3 install -e /root/catkin_ws/src/wild_visual_navigation > /dev/null
+
+echo "catkin build ..."
+catkin build > /dev/null
+
+echo "source devel/setup.bash ..."
+source devel/setup.bash > /dev/null
+
+echo "Setup ready!"

wild_visual_navigation_jackal/CMakeLists.txt

@@ -13,14 +13,6 @@ catkin_package(
   CATKIN_DEPENDS
 )
 
-# catkin_python_setup()
-# catkin_install_python(PROGRAMS  scripts/wvn_feature_extractor_node.py
-#                                 scripts/wvn_learning_node.py
-#                                 scripts/overlay_images.py
-#                                 scripts/smart_carrot.py
-#                                 scripts/rosbag_play.sh
-#                       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
 message(${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY launch Media worlds
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
@@ -29,5 +21,7 @@ install(DIRECTORY launch Media worlds
 ############
 ## Python ##
 ############
-catkin_install_python(PROGRAMS scripts/jackal_state_converter_node.py
+catkin_install_python(PROGRAMS scripts/carrot_follower.py
+                               scripts/jackal_state_converter_node.py
+                               scripts/gazebo_world_publisher.py
                       DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})