StageROSGym

Repository to run experiments with ROS Stage simulator and Open AI Gym environment.

The StageROSGym environment is based on Stage ROS simulator stage_environments (https://bitbucket.org/iocchi/stage_environments/) and on robot behaviors implemented in rc-home-edu-learn-ros (https://github.com/robocupathomeedu/rc-home-edu-learn-ros). These functionalities are available through docker containers that are pulled by the script stagerosgym.bash provided in this repository.

Quick start

1. Build the image for StageROSGym

   ./build.bash

2. Start all the processes and the simulator

   ./stagerosgym.bash start

3. Run StageROSGym container

   ./run.bash

4. Start a script

   In the stagerosgym container

    cd StageROSGym
    python testenv.py
   

5. Quit everything

   In the stagerosgym container, exit from all the windows or use CTRL-b d

   In the host system:

    ./stagerosgym.bash stop
   

Additional information

Note: in the first run, this command will pull some docker images from Docker Hub.

Note: if you need special configuration (e.g., Nvidia drivers), you need to build docker images following instructions in the above repositories.

Use

./stagerosgym.bash [start [--no_gui]|start-dev [--no_gui]|stop|status|pause|resume|speedup <value>|footprints]

    start                 start the docker containers and the simulator with GUI
    start --no_gui        start the docker containers and the simulator without GUI
			start-dev [--no_gui]  start with development options: nvidia drivers without devices
    stop						      stop the docker containers
    status                show running modules
    pause                 simulation pause
    resume                simulation resume
    speedup <v>           simulation speedup <v>
    footprints            show footprints