Case Study: Setting up RL-SAR

Clone repo

mkdir -p ~/Desktop/ros_ws/src/
cd ~/Desktop/ros_ws/src/

git clone https://github.com/fan-ziqi/rl_sar.git

Install system dependencies

sudo apt install liblcm-dev libyaml-cpp-dev

Install ROS dependencies

sudo apt install \
  ros-noetic-teleop-twist-keyboard \
  ros-noetic-controller-interface \
  ros-noetic-gazebo-ros-control \
  ros-noetic-joint-state-controller \
  ros-noetic-effort-controllers \
  ros-noetic-joint-trajectory-controller

Install PyTorch Cpp binding

mkdir -p ~/Documents/
cd ~/Documents/
wget https://download.pytorch.org/libtorch/cpu/libtorch-cxx11-abi-shared-with-deps-2.0.1%2Bcpu.zip
unzip libtorch-cxx11-abi-shared-with-deps-2.0.1+cpu.zip -d ./
rm ~/Documents/libtorch/libtorch-*.zip
cd -

~/.bashrc

# PyTorch C++ Binding
export TORCH_DIR=/home/tk/Documents/libtorch/

export Torch_DIR=/home/tk/Documents/libtorch/

Build source

# cd ./ros_ws/
catkin build

Sim2Sim

source ./devel/setup.bash

roslaunch rl_sar gazebo_a1_isaacgym.launch

rosrun rl_sar rl_sim

Sim2Real

rosrun rl_sar rl_real_a1