Installation for new users

• initialize conda environment

conda create -n lang_ros python=3.9

• clone our repo

git clone git@github.com:leohmcs/lang_reachability_ros.git
git clone git@github.com:CMU-IntentLab/lang-reachability.git

• build habitat-sim 0.3.1 from source code

git clone https://github.com/facebookresearch/habitat-sim.git
cd habitat-sim
pip install .
cd ..

• install habitat-lab

git clone https://github.com/facebookresearch/habitat-lab.git
cd habitat-lab
pip install -e habitat-lab 
cd ..

• install ros-noetic-desktop

# this adds the conda-forge channel to the new created environment configuration 
conda config --env --add channels conda-forge
# and the robostack channel
conda config --env --add channels robostack-staging
conda install ros-noetic-desktop

Evaluation

results stored in each file

• brt_computation_time.npy
  • Nx2 matrix,
  • each row is [time taken to compute the brt, timestamp we saved the data]
• combined_map_over_time.npy:
  • NxMxK matrix, where we append the MxK map of constraints (rtabmap + owl-vit) over time
• failure_at_state.npy:
  • Nx5 matrix
  • each row is [x_robot, y_robot, theta_robot, value of the initial value function at this state, timestamp we saved the data]
  • if the value is negative, we entered a failure state
• safe_planning_time.npy:
  • Nx2 matrix
  • each row is [time taken to compute the safe action, timestamp we saved the data]
• value_function_at_state.npy:
  • Nx5 matrix
  • each row is [x_robot, y_robot, theta_robot, value of the converged value function at this state, timestamp we saved the data]
  • if the value is negative, we entered an unsafe state and the safety controller was activated

Installation

• create a new conda environment exactly equal to lang-reachability (say lang-reachability-ros) just to preserve the previous one in case things go wrong
• install habitat and owl-vit dependencies using the env.yaml file we have
• then install ROS Noetic following this instructions: https://robostack.github.io/GettingStarted.html#__tabbed_4_1
• make sure to remove the line "source /opt/ros/noetic/setup.bash" from your .bashrc if you have it; otherwise it will cause issues now that we are using it with conda
• install the teleoperation package with "conda install ros-noetic-teleop-twist-keyboard"
• create another conda environment (say rtabmap) for rtabmap (Python versions of rtabmap and habitat are incompatible)
• install ROS Noetic in this environment following the same instructions as before
• install rtabmap with conda install ros-noetic-rtabmap-ros

Running

• in the lang-reachability-ros env.
• in one terminal: run "roscore"
• in another terminal: do not source your workspace as this will break things (and I don't know why, it's just the way life is); run "python3 simulator_node.py". it is very important that you run this with python3 and not rosrun, otherwise it won't be able to import habitat_sim.
• in another terminal: run "rosrun teleop_twist_keyboard teleop_twist_keyboard"
• in another terminal: run "rviz" (for visualization)
• to visualize the map, go to "Add" (bottom left), "Topics" tab, and choose "obstacle point cloud" or something similar
• in the rtabmap env
• run "rosrun rtabmap_slam rtabmap"