/Active-Suspension

Codebase of the Gazebo RL Closed- Chain Active Suspension System

Primary LanguagePythonMIT LicenseMIT

Active-Suspension

Codebase of the Gazebo RL Closed- Chain Active Suspension System

Installation

Ubuntu 20.04

Basic requirements

  • ROS noetic : Desktop-Full Install recommended, includes Gazebo 11.0.0.

Installation

  • Install python-rosdep for resolving your workspaces' dependencies (Don't install rosdep2 as it will break your ros system):

    sudo apt-get install python3-rosdep && sudo rosdep init && rosdep update

  • Finally run the helper script:

    cd Active-Suspension/ && ./helper_script.sh

Launch the simulation

  • In an empty world: (by default)

    roslaunch lsd custom_world.launch

  • In a world of your choice:

    roslaunch lsd custom_world.launch world_name:=world_name.world

  • To load a pretrained model:

    cd Active-Suspension/gym-gazebo/examples/lsd_rover && python3 stable-SAC_test.py

Kill Background Processes

  • Add the alias to your bash script and source it: (One time process)

    echo "alias killgazebogym='killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient'" >> ~/.bashrc && source ~/.bashrc

  • When you want to kill all the gazebo processes:

    killgazebogym