Active-Suspension

Codebase of the Gazebo RL Closed- Chain Active Suspension System

Installation

Ubuntu 20.04

Basic requirements

• ROS noetic : Desktop-Full Install recommended, includes Gazebo 11.0.0.

Installation

• Install python-rosdep for resolving your workspaces' dependencies (Don't install rosdep2 as it will break your ros system):

  sudo apt-get install python3-rosdep && sudo rosdep init && rosdep update
  

• Finally run the helper script:

  cd Active-Suspension/ && ./helper_script.sh 
  

Launch the simulation

• In an empty world: (by default)

  roslaunch lsd custom_world.launch
  

• In a world of your choice:

  roslaunch lsd custom_world.launch world_name:=world_name.world
  

• To load a pretrained model:

  cd Active-Suspension/gym-gazebo/examples/lsd_rover && python3 stable-SAC_test.py
  

Kill Background Processes

• Add the alias to your bash script and source it: (One time process)

  echo "alias killgazebogym='killall -9 rosout roslaunch rosmaster gzserver nodelet robot_state_publisher gzclient'" >> ~/.bashrc && source ~/.bashrc
  

• When you want to kill all the gazebo processes:

  killgazebogym