• Ubuntu 16.04/18.04

• ROS Kinetic/Medolic

• Gazebo 7/8

• Download the 3D models (3GB), then extract and copy them to your Gazebo folder located at /home/<use_name>/.gazebo/models.

• Copy world files inside world_files folder into your catkin folder.

• The example world file is in navigation/simulation-env/world_files folder.

• Example command to run: rosrun gazebo_ros gazebo world_files/house4.world.

• Make sure you pull all models from this git and copy them into your Gazebo model folder (which is located in /.gazebo/models)

• Make sure you had backed up your orginal models in ./gazebo/models. This is important since the code will delete your original textures and replace them. You will lose your original textures if you don't back up them!

• Open GENERATE.py and edit the path into your path of Gazebo models folder.

• Run the GENERATE.py file: python GENERATE.py This will automatically replace all old textures by new textures

• Reload your world files. You should see your worlds are in new colors.

• Known issues: Gazebo may immediately crash when loading a model or a world file. Fix this with: sudo apt-get install libgazebo7-dev

$ cd navigation/beetlebot

$ catkin_make

$ . devel/setup.bash

$ roslaunch beetlebot_gazebo beetlebot_world.launch

(Wait until the world finishes loading in the gazebo)

$ roslaunch beetlebot_gazebo load_robot.launch

$ cd navigation/beetlebot
$ . devel/setup.bash
$ cd src/beetlebot_AIOZ/beetlebot_control/scripts
$ python keyboard_controller.py

• Download the navigation dataset from here (58GB)

To be update

If you use this code as part of any published research, we'd really appreciate it if you could cite the following paper:

@article{IROS2020aioz,
  author    = {Anh Nguyen and
               Ngoc Nguyen and
               Kim Tran and
               Erman Tjiputra and
               Quang D. Tran},
  title     = {Autonomous Navigation in Complex Environments with Deep Multimodal
               Fusion Network},
  journal   = {CoRR},
  volume    = {abs/2007.15945},
  year      = {2020}
}

@article{ROSBook2021aioz,
author = {Nguyen, Anh and Tran, Quang},
year = {2020},
month = {12},
journal = {ROSBook 2021 - Springer Book on Robot Operating System (ROS)},
title = {Autonomous Navigation with Mobile Robots using Deep Learning and the Robot Operating System}
}

AIOZ License

AIOZ AI Homepage: https://ai.aioz.io AIOZ BeetleBot: https://beetle.aioz.io