Product detail: WLKATA BRAVE

• Install ROS Noetic: Set up a ROS Noetic-based algorithm Development Environment on the Ubuntu 20.04 operating system. For installation, please refer to the documentation: https://docs.ros.org/en/noetic/Installation/Ubuntu-Install-Debians.html, and choose "ros-noetic-desktop" for installation. After the installation of ROS Noetic is completed, enter the following Shell commands in the Bash end point to install the libraries required by the Development Environment:

  sudo apt-get update
  sudo apt install ros-noetic-urdf \
               ros-noetic-kdl-parser \
               ros-noetic-urdf-parser-plugin \
               ros-noetic-hardware-interface \
               ros-noetic-controller-manager \
               ros-noetic-controller-interface \
               ros-noetic-controller-manager-msgs \
               ros-noetic-control-msgs \
               ros-noetic-ros-control \
               ros-noetic-gazebo-* \
               ros-noetic-robot-state-* \
               ros-noetic-joint-state-* \
               ros-noetic-rqt-gui \
               ros-noetic-rqt-controller-manager \
               ros-noetic-plotjuggler* \
               cmake build-essential libpcl-dev libeigen3-dev libopencv-dev libmatio-dev \
               python3-pip libboost-all-dev libtbb-dev liburdfdom-dev liborocos-kdl-dev -y

• Install the onnxruntime dependency, download link:https://github.com/microsoft/onnxruntime/releases/tag/v1.10.0. Please choose the appropriate version to download according to your operating system and platform. For example, on Ubuntu 20.04 x86_64, please follow the steps below for installation:

  wget https://github.com/microsoft/onnxruntime/releases/download/v1.10.0/onnxruntime-linux-x64-1.10.0.tgz
  
  tar xvf onnxruntime-linux-x64-1.10.0.tgz
  
  sudo cp -a onnxruntime-linux-x64-1.10.0/include/* /usr/include
  sudo cp -a onnxruntime-linux-x64-1.10.0/lib/* /usr/lib

You can create an RL deployment development workspace by following these steps:

• Open a Bash end point.

• Create a new directory to store the workspace. For example, you can create a directory named "limx_ws" under the user's home directory:

  mkdir -p ~/limx_ws/src

• Download the Motion Control Development Interface:

  cd ~/limx_ws/src
  git clone https://github.com/limxdynamics/limxsdk-lowlevel.git

• Download Gazebo Simulator:

  cd ~/limx_ws/src
  git clone https://github.com/limxdynamics/tron1-gazebo-ros.git

• Download the robot model description file

  cd ~/limx_ws/src
  git clone https://github.com/limxdynamics/robot-description.git

• Download Visualization Tool

  cd ~/limx_ws/src
  git clone https://github.com/limxdynamics/robot-visualization.git

• Download RL deployment source code:

  cd ~/limx_ws/src
  git clone https://github.com/limxdynamics/tron1-rl-deploy-ros.git

• Compile Project:

  cd ~/limx_ws
  catkin_make install

• Select robot type

  • List available robot types via the Shell command tree -L 1 src/robot-description/pointfoot :

    src/robot-description/pointfoot
    ├── PF_P441A
    ├── PF_P441B
    ├── PF_P441C
    ├── PF_P441C2
    ├── PF_TRON1A
    ├── SF_TRON1A
    └── WF_TRON1A
    

  • TakingPF_P441C (please replace it according to the actual robot type) as an example, set the robot model type:

    echo 'export ROBOT_TYPE=PF_P441C' >> ~/.bashrc && source ~/.bashrc
    

• Select training environment

  The currently supported training environments are isaacgym and isaaclab. Taking isaacgym as an example, set the training environment type:

  echo 'export RL_TYPE=isaacgym' >> ~/.bashrc && source ~/.bashrc
  

• Run Simulation

  Start the Gazebo simulator by running the Shell command, then press Ctrl + Shift + R in the simulator window to start the robot moving. You can also control the robot's movement by setting the publish topic of the Robot Steering plugin to /cmd_vel.

  source install/setup.bash
  roslaunch robot_hw pointfoot_hw_sim.launch