A ROS package connecting the Habitat and providing some common sensors (Laser, Lidar) not supported in the Habitat Sim. You can easily build a robot and set the topic, static links and sensors with config files.
The package is currently tested with:
- Ubuntu: 20.04
- ROS: noetic
- Conda: 4.12.0
- habitat-sim: 0.2.1 & 0.2.2
Note: You may refer to habitat-sim for step 1 and 2.
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Initialize the conda env:
conda create -n habitat python=3.7 cmake=3.14.0 conda activate habitat
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Install the Habitat-Sim package:
conda install habitat-sim withbullet -c conda-forge -c aihabitat
-
Install the dependencies:
conda install -c anaconda pyqt conda install -c conda-forge pyyaml rospkg defusedxml opencv numba conda install -c esrf-bcu simple-pid
-
Install Habitat-ROS package:
$ cd ~/catkin_ws/src $ git clone https://github.com/keroroxzz/habitat_ros.git $ cd .. & catkin_make
- loading fail due to pyqt: try different installation order in step 3.
It currently tested with the HM3D-semantic v0.1 and v0.2 dataset.
Please prepare and set the path to the dataset config file by setting the environment variable "HABITAT_DATASET_PATH".
$ export HABITAT_DATASET_PATH=your/path/to/dataset.scene_dataset_config.json
Note: We recommend adding this line to the ~/.bashrc or your bash file.
Always remenber to activate your conda env before starting this.
$ conda activate {your habitat env}
Activate a simulation environment (with control panel in default):
$ roslaunch habitat_ros oreo.launch
Activate a simulation environment (without control panel):
$ roslaunch habitat_ros oreo.launch control_panel:=false
You can also specify a scene by argument "scene":
$ roslaunch habitat_ros oreo_sim.launch scene:=00009
The control panel defines a few keys to control the robot.
W/S/A/D: move forward/backward/left/right
Q/E: rotate left/right
SPACE: accelerate
O: restart the control panel (sometime it stucks.)
esc: turn off the control panel
We recommend creating a new package to organize the config and model of your custom robot.
We also provide a lot of instructions in the comments.
- download example_myrobot.zip and decompress it to your {catkin_ws}/src/
- catkin_make your workspace
- roslaunch myrobot myrobot.launch
You may also refer to the releases.