Arena-Rosnav

A modular ROS 2 (Humble) platform for researching and benchmarking autonomous robot navigation in 2D and 3D simulated environments. It supports classical planners (Nav2), deep-RL planners (rosnav_rl), and a variety of simulators (Gazebo, Isaac Sim).

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Installation

Preqeuisites: Docker installation with nvidia-container-toolkit for GPU support. Current user must be in group docker. Afterwards, run the following commands to install Arena:

Basic Installation

curl https://raw.githubusercontent.com/voshch/Arena/jazzy/install.sh > install.sh
bash install.sh

and follow the prompts. This will create a ROS 2 workspace at your target location and instruct you how to proceed (yellow text).

Optional Features

cd ~/arena_ws # replace with your actual workspace path
source arena
arena feature isaac install # optional
arena feature gazebo install # optional
arena feature training install # optional

We recommend installing at least one simulator.

Usage

cd ~/arena_ws # replace with your actual workspace path
source arena
arena launch sim:=isaac                          # Isaac Sim
arena launch local_planner:=rosnav_rl agent_name:=<your_agent>  # DRL planner
arena launch sim:=gazebo local_planner:=rosnav_rl env_n:=2 train_config:=<path to config.yaml> # DRL training 

DRL quick-start

Place your trained agent folder inside Arena/arena_training/agents/<agent_name>/ (must contain training_config.yaml and best_model.zip), then launch with local_planner:=rosnav_rl agent_name:=<agent_name>. Refer to the arena_training for training instructions.

Troubleshooting

Unknown runtime speficied 'nvidia'

sudo nvidia-ctk runtime configure --runtime=docker
sudo systemctl restart docker
sudo nvidia-ctk runtime configure --runtime=containerd
sudo systemctl restart containerd