Patern Simulation

This package will install and bring up all the necessary components for running Sterling-Patern simulation demos in Gazebo.

1. Install Dependencies

Docker

Nvidia Container Toolkit

Docker: Post Installation Steps

2. Installation and Setup

1. Clone Repository

   git clone -b patern/husarion-packages [email protected]:UTNuclearRobotics/sterling_sim_docker.git

2. Setup SSH Environment

   ./setup.sh

3. Build Docker Image

   make build

3. Run

• Start the Docker container.

  make start

4. Interfacing

• Open patern_gazebo_c container shell.

  make shell

• 🐳 Launch the Patern costmaps. A volume is setup to have /sterling inside /ros2_ws/src in the container. To deploy Sterling-Patern, build the workspace, setup the params.yaml with the correct paths to trained models (you may have to grab from Ryan... or UT Box), and topic names. You should see RViz launch to view all the costmaps from Nav2 and Sterling combined.

  I recommend storing the models in a /model folder in the top directory. The default Patern model folder should contain:

  • terrain_rep.pt
  • cost_head.pt
  • fpro.pt
  • fvis.pt
  • upro.pt
  • uvis.pt

  colcon build
  run_sterling_costmap

• 🐳 Run Gazebo simulation. Pick one. This should bring up a window of the Husarion Panther in a boxed in area with terrain regions and a U-shaped sidewalk.

  run_gazebo_low
  run_gazebo_medium
  run_gazebo_high

• 🐳 Run the navigation stack for the Husarion Panther.

  run_nav2

• Stop the container.

  make stop

• Record bag data. It'd recommend running it outside of the container for easy access to the bag. The bag will be saved in the directory you run this script.

  record_bag_sim.sh