Gazebo ROS-based BD1 droid from Star Wars: The Fallen Order game. For testing reinforcement learning algorithms.
- Install ROS Noetic
- Install additional ROS packages
sudo apt install ros-noetic-velocity-controllers-
If you want to use GPU, install CUDA and cuDNN, here is guide need to be followed until 'Finally to verify the correct installation'
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Install pytorch
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Install stable-baselines3
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Clone this repo in your workspace and build it
- bd1_config - main launches
- bd1_description - robot model
- bd1_gazebo_env_interface - utils to wrap Gazebo in Gym environment
- bd1_gazebo_utils - some Gazebo additional utilities like contact handler
- bd1_manual_control - manual robot control for testing
- bd1_simple_moves - some handmade movements like deploy\undeploy
- bd1_train_sb3 - nodes implementing learning with stable-baselines3