BD1

BD1

Gazebo ROS-based BD1 droid from Star Wars: The Fallen Order game. For testing reinforcement learning algorithms.

How to install

1. Install ROS Noetic
2. Install additional ROS packages

sudo apt install ros-noetic-velocity-controllers

3. If you want to use GPU, install CUDA and cuDNN, here is guide need to be followed until 'Finally to verify the correct installation'

4. Install pytorch

5. Install stable-baselines3

6. Clone this repo in your workspace and build it

Repository structure

• 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 deployundeploy
• bd1_train_sb3 - nodes implementing learning with stable-baselines3

Launch training

roslaunch bd1_config bd1_gazebo.launch

Wait until Gazebo starts, then

roslaunch bd1_config bd1_train_sb3.launch 

Run tensorboard with

tensorboard --logdir bd1_train_sb3/models/...