Habitat_ROS

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.

Requirments

The package is currently tested with:

- Ubuntu: 20.04
- ROS: noetic
- Conda: 4.12.0
- habitat-sim: 0.2.1 & 0.2.2

Installation

Note: You may refer to habitat-sim for step 1 and 2.

1. Initialize the conda env:

    conda create -n habitat python=3.7 cmake=3.14.0
    conda activate habitat
   

2. Install the Habitat-Sim package:

    conda install habitat-sim withbullet -c conda-forge -c aihabitat
   

3. 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
   

4. Install Habitat-ROS package:

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/keroroxzz/habitat_ros.git
    $ cd ..
    & catkin_make
   

Trouble Shooting

• loading fail due to pyqt: try different installation order in step 3.

Setting Dataset

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.

Startup

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

Usage

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

How to build a custom robot?

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.

1. download example_myrobot.zip and decompress it to your {catkin_ws}/src/
2. catkin_make your workspace
3. roslaunch myrobot myrobot.launch

You may also refer to the releases.