Introduction

This is the demo repository of ROAM

Requirements

1. Ubuntu 20.04 and ROS Noetic
2. Gazebo Fortress Gazebo Fortress installation
3. Othrer dependencies in submodules

Launch simulation

Please source the workspace before running the nodes

roslaunch multi_sim_init semantic_init_multi.launch

Docker

We also provide docker image for demo, it has been tested on Ubuntu 22.04. NVIDIA Container Toolkit is required to display the simulation. Host with other graphics card may work but not guaranteed.

In dockerfile we install package python-is-python3, which is not suggested to install on your host machine.

0. Enable GUI in docker container at your host:

xhost +local:docker

1. Build the docker image

docker compose build

2. Start container and run the demo

docker compose up

3. Open container with bash

docker compose run roam_demo bash

Desired result

If everything is set up correctly, you shold see robot exploring around like this: