- This repository contains packages for simulating Learning from Hallucination paper. Using the same robot as BARN Challenge.
ClearPath Jackal for noetic
- Install ROS Noetic, make sure you also installed Gazebo and RViz.
- Add Clearpath custom metapackages here.
- Follow this instruction.
- Install all jackal packages.
sudo apt install ros-noetic-jackal-*
- Clone this repo and run
catkin_make
in the workspace. Remember to checkout the correct branch.mkdir ~/catkin_ws cd ~/catkin_ws git clone https://github.com/ahanjaya/LfH.git src/ cd ~/catkin_ws catkin_make -j16
- Terminal
roslaunch lfh_data collect_data.launch
-
Convert
.bag
to ros2 format. According to rosbags repositoryrosbags-convert <output_name>.bag
-
Terminal
roslaunch lfh_data convert_data.launch
- Terminal
roslaunch lfh_data train_data.launch
- Copy rviz setting
lfh_navigation.rviz
into/opt/ros/noetic/share/jackal_viz/rviz
.sudo cp ~/catkin_ws/src/lfh_utils/rviz/lfh_navigation.rviz /opt/ros/noetic/share/jackal_viz/rviz
- Terminal
roslaunch lfh_inference bringup_lfh.launch