There are two installation options: real-only (OS agnostic, no ROS dependencies) and real-and-sim (requires Ubuntu 16.04 and ROS Kinetic).
Python 2.7 is not supported. Please run your scripts using Python 3.6.
This installation only depends on python libraries and thus can be installed on any OS. We provide an installation script for Ubuntu (tested on Ubuntu 16.04 and 18.04), which you can use a guideline for installation on other systems (feel free to submit a pull request with an installation script for your system).
git clone https://github.com/offworld-projects/offworld-gym.git cd offworld-gym/scripts export OFFWORLD_GYM_ROOT=`pwd`/.. ./install-real.sh
To test the installation, do the following:
Book your time slot at https://gym.offworld.ai/book
Copy the OffWorld Gym Access Token from https://gym.offworld.ai/account to
Activate the Gym Shell by calling
Open https://gym.offworld.ai/cameras in your browser to see the real-time camera stream!
Run the minimal example
python3.6 examples/minimal_example_real.pyand see the robot move.
Real and Sim¶
The simulated replicas of OffWorld Gym environments are build in Gazebo, rely on ROS Kinetic and thus require Ubuntu 16.04. The following steps will prepare you for running both the Real and the Sim versions of OffWorld Gym.
Please install the following components using the corresponding installation instructions.
For GPU support also install
The installation scripts scripts/install-real-and-sim.sh has been tested on Ubuntu 16.04.
git clone https://github.com/offworld-projects/offworld-gym.git cd offworld-gym/scripts export OFFWORLD_GYM_ROOT=`pwd`/.. ./install-real-and-sim.sh
To test the Sim installation open two terminals, start the environment in the first one
source $OFFWORLD_GYM_ROOT/scripts/gymshell.sh roslaunch gym_offworld_monolith env_bringup.launch
and a Gazebo instance in another
source $OFFWORLD_GYM_ROOT/scripts/gymshell.sh gzclient
To test the real installation please follow the steps in the previous section.