o3de / robotvacuumsample Goto Github PK

This sample project demonstrating a robotic vacuum simulation project navigating through the O3DE Loft scene using the ROS 2 Gem and the ROS 2 navigation stack.

License: Other

CMake 62.63% Dockerfile 11.55% Shell 6.64% C++ 13.43% Python 5.75%

robotvacuumsample's Introduction

O3DE (Open 3D Engine)

O3DE (Open 3D Engine) is an open-source, real-time, multi-platform 3D engine that enables developers and content creators to build AAA games, cinema-quality 3D worlds, and high-fidelity simulations without any fees or commercial obligations.

Contribute

For information about contributing to Open 3D Engine, visit https://o3de.org/docs/contributing/.

Download and Install

This repository uses Git LFS for storing large binary files.

Verify you have Git LFS installed by running the following command to print the version number.

git lfs --version

If Git LFS is not installed, download and run the installer from: https://git-lfs.github.com/.

Install Git LFS hooks

git lfs install

Clone the repository

git clone https://github.com/o3de/o3de.git

Building the Engine

Build requirements and redistributables

For the latest details and system requirements, refer to System Requirements in the documentation.

Windows

Visual Studio 2019 16.9.2 minimum (All editions supported, including Community): https://visualstudio.microsoft.com/downloads/
- Check System Requirements for other supported versions.
- Install the following workloads:
  - Game Development with C++
  - MSVC v142 - VS 2019 C++ x64/x86
  - C++ 2019 redistributable update
CMake 3.22.0 minimum: https://cmake.org/download/#latest (Release Candidate versions are not supported)

Optional

Wwise audio SDK
- For the latest version requirements and setup instructions, refer to the Wwise Audio Engine Gem reference in the documentation.

Quick start engine setup

To set up a project-centric source engine, complete the following steps. For other build options, refer to Setting up O3DE from GitHub in the documentation.

Create a writable folder to cache downloadable third-party packages. You can also use this to store other redistributable SDKs.
Install the following redistributables:
- Visual Studio and VC++ redistributable can be installed to any location.
- CMake can be installed to any location, as long as it's available in the system path.
Configure the engine source into a solution using this command line, replacing <your build path>, <your source path>, and <3rdParty package path> with the paths you've created:
```
cmake -B <your build path> -S <your source path> -G "Visual Studio 16" -DLY_3RDPARTY_PATH=<3rdParty package path>
```
Example:
```
cmake -B C:\o3de\build\windows -S C:\o3de -G "Visual Studio 16" -DLY_3RDPARTY_PATH=C:\o3de-packages
```
Note: Do not use trailing slashes for the <3rdParty package path>.
Alternatively, you can do this through the CMake GUI:
1. Start cmake-gui.exe.
2. Select the local path of the repo under "Where is the source code".
3. Select a path where to build binaries under "Where to build the binaries".
4. Click Add Entry and add a cache entry for the <3rdParty package path> folder you created, using the following values:
  1. Name: LY_3RDPARTY_PATH
  2. Type: STRING
  3. Value: <3rdParty package path>
5. Click Configure.
6. Wait for the key values to populate. Update or add any additional fields that are needed for your project.
7. Click Generate.

scripts\o3de.bat register --this-engine

The configuration of the solution is complete. You are now ready to create a project and build the engine.

For more details on the steps above, refer to Setting up O3DE from GitHub in the documentation.

Setting up new projects and building the engine

From the O3DE repo folder, set up a new project using the o3de create-project command.
```
scripts\o3de.bat create-project --project-path <your new project path>
```

Configure a solution for your project.

cmake -B <your project build path> -S <your new project source path> -G "Visual Studio 16"

Example:

cmake -B C:\my-project\build\windows -S C:\my-project -G "Visual Studio 16"

Note: Do not use trailing slashes for the <3rdParty cache path>.

Build the project, Asset Processor, and Editor to binaries by running this command inside your project:
```
cmake --build <your project build path> --target <New Project Name>.GameLauncher Editor --config profile -- /m
```
Note: Your project name used in the build target is the same as the directory name of your project.

This will compile after some time and binaries will be available in the project build path you've specified, under bin/profile.

For a complete tutorial on project configuration, see Creating Projects Using the Command Line Interface in the documentation.

Code Contributors

This project exists thanks to all the people who contribute. [Contribute].

License

For terms please see the LICENSE*.TXT files at the root of this distribution.

robotvacuumsample's People

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spham-amzn hultonha amzn-alexpete julesbelansolidstateofmind kazimbalti

robotvacuumsample's Issues

Docker build fails with 'control_toolbox/pid.hpp' file not found

While building the Docker I keep running into:

#0 1967.8 /data/workspace/o3de-extras/Gems/ROS2/Code/Include/ROS2/VehicleDynamics/DriveModels/PidConfiguration.h:11:10: #fatal error: 'control_toolbox/pid.hpp' file not found
#0 1967.8 #include <control_toolbox/pid.hpp>

Does anyone have any idea how to fix this, I already followed this thread to no avail. I've also tried the obvious solution to RUN apt install the control_toolbox earlier in the script.

README.md: Documentation lacks of commands

Describe the bug
Launching the robot application docker image with the command provided (sudo docker run --rm --network="bridge" --gpus all -e DISPLAY=:1 -v /tmp/.X11-unix:/tmp/.X11-unix -it o3de_robot_vacuum_navstack:latest /data/workspace/LaunchNavStack.bash ) results in error, as build command (sudo docker build -t o3de_robot_vacuum_simulation:latest .) refers to building simulation and navstack together. While rest of the documentation shows run command when simulation and navstack was built separately. The mentioned error is:

Unable to find image 'o3de_robot_vacuum_simulation:latest' locally
docker: Error response from daemon: pull access denied for o3de_robot_vacuum_simulation, repository does not exist or may require 'docker login': denied: requested access to the resource is denied.
See 'docker run --help'.

To run the robot application docker image the command has to be change to:

sudo docker run --rm --network="bridge" --gpus all -e DISPLAY=:1 -v /tmp/.X11-unix:/tmp/.X11-unix -it o3de_robot_vacuum_simulation:latest /data/workspace/LaunchNavStack.bash

Please note that the issue should be considered a Major.

Steps to reproduce
Steps to reproduce the behavior:

Go to https://github.com/o3de/RobotVacuumSample/blob/main/README.md
Follow the instruction (do not execute the optional command: sudo docker build --build-arg IMAGE_TYPE=navstack -t o3de_robot_vacuum_navstack:latest .

Expected behavior
Documentation provides proper commands for running the Docker Image.

Actual behavior
Documentation does not include commands for running the Docker Image when simulation and navstack were built together.

Found in Branch
main

Commit ID from [o3de/RobotVacuumSample(https://github.com/o3de/RobotVacuumSample) Repository
58bc195

Desktop/Device:

Device: PC
OS: Linux
Version: Ubuntu 20.04.3 LTS
CPU: AMD Ryzen 5 3600 6-Core Processor
GPU: NVIDIA GeForce RTX 2060 SUPER
Memory: 16 GB

Docker fails to build simulation launcher

Describe the bug
On one machine, the docker failed to build the simulation launcher and instead exited with code 137. Instructions at https://github.com/o3de/RobotVacuumSample/blob/main/Docker/README.md were used. This issue is somewhat similar to an issue with ROSConDemo: o3de/ROSConDemo#209. See attached log for details.

Steps to reproduce

Clone the https://github.com/o3de/RobotVacuumSample repository.
Complete pre-requisites as listed at https://github.com/o3de/RobotVacuumSample/blob/main/Docker/README.md.
Navigate to the RobotVacuumSample/Docker folder and, if on Ubuntu 22.04, run sudo docker build -t o3de_robot_vacuum_simulation:latest . via the terminal. If you are running Ubuntu 20.04, run sudo docker build --build-arg ROS_VERSION=galactic --build-arg UBUNTU_VERSION=focal -t o3de_robot_vacuum_simulation:latest .

Expected behavior
The launcher image is built.

Actual behavior
Building is not completed and exits with code 137.

Found in Branch
RobotVacuumSample: main 58bc195
O3DE: development o3de/o3de@ec52f77

Commit ID from o3de/RobotVacuumSample Repository
RobotVacuumSample 58bc195
Commit ID from o3de/o3de Repository
O3DE: development o3de/o3de@ec52f77

Desktop/Device:

Device: PC
OS: Windows
Version: 10
CPU: AMD Ryzen 5 3600X
GPU: AMD Radeon RX 5700 XT
Memory: 16GB

Additional Context
terminal_log1.txt

Wrong branch in readme

Readme asks the user to clone :
https://github.com/o3de/loft-arch-vis-sample.git
It will give the user a 'main' branch, which is incompatible.

Running ROS2 navigation example results in multiple issues

Describe the bug
Running ROS2 navigation example results in 3 issues:

Asset processor fails to process multiple assets.
RViz window lacking a map.
Segmentation fault (core dumped) errors.

All issues occur only on one machine.

Please note that the issue should be considered a Major.

Steps to reproduce

Set up O3DE. (https://www.o3de.org/docs/welcome-guide/setup/setup-from-github/building-linux/)
Set up RobotVacumSample. (https://github.com/o3de/RobotVacuumSample)
Attempt to process all Assets in the project (./AssetProcessor –project-path=~/Builds/RobotVacuumSample)
Launch the Editor. (./Editor)
Open the Loft Level and run the game.
Run RViz. (ros2 launch navigation.launch.py)

Expected behavior
No errors occur when running the project.

Actual behavior
Issues mentioned in the description are present.

Screenshots/Video

Found in Branch
Development (50441b0)
o3de/RobotVacuumSample (main) (58bc195)

Commit ID from o3de/o3de Repository
50441b0

Desktop/Device:

Device: PC
OS: Ubuntu
Version 20.04
CPU Intel i7-11700F
GPU Nvidia GeForce RTX 3070
Memory 32GB

Additional context
specs.zip

Docker instructions using sudo

The instructions to run docker instructs the user to run docker using sudo. sudo works around the issue that the docker daemon as run as root. Instead, the instructions should not recommend this, but instead refer to the Docker post-install instructions to manage docker as a non-root user ( https://docs.docker.com/engine/install/linux-postinstall/ )

Docker readme.md documentation lacks of commands

Unable to find image 'o3de_robot_vacuum_simulation:latest' locally
docker: Error response from daemon: pull access denied for o3de_robot_vacuum_simulation, repository does not exist or may require 'docker login': denied: requested access to the resource is denied.
See 'docker run --help'.

To run the robot application docker image the command has to be change to:

sudo docker run --rm --network="bridge" --gpus all -e DISPLAY=:1 -v /tmp/.X11-unix:/tmp/.X11-unix -it o3de_robot_vacuum_simulation:latest /data/workspace/LaunchNavStack.bash

Please note that the issue should be considered a Major.

Steps to reproduce
Steps to reproduce the behavior:

Go to https://github.com/o3de/RobotVacuumSample/tree/main/Docker
Follow the instruction (do not execute the optional command: sudo docker build --build-arg IMAGE_TYPE=navstack -t o3de_robot_vacuum_navstack:latest .

Expected behavior
Documentation provides proper commands for running the Docker Image.

Actual behavior
Documentation does not include commands for running the Docker Image when simulation and navstack were built together.

Found in Branch
main

Commit ID from [o3de/RobotVacuumSample(https://github.com/o3de/RobotVacuumSample) Repository
https://github.com/o3de/RobotVacuumSample/commit/58bc195b8dbfd4da7fe4213ee69404dd741fc2f3

Desktop/Device:

Device: PC
OS: Linux
Version: Ubuntu 20.04.3 LTS
CPU: AMD Ryzen 5 3600 6-Core Processor
GPU: NVIDIA GeForce RTX 2060 SUPER
Memory: 16 GB

README.md multiple text issues

Describe the bug
There are multiple issues with text in the https://github.com/o3de/RobotVacuumSample/blob/main/README.md file:

Requirements

ROS2 Gem link https://github.com/o3de/o3de-extras/Gems/ROS2 should be https://github.com/o3de/o3de-extras/tree/development/Gems/ROS2.
Gem requirements link https://github.com/o3de/o3de-extras/Gems/ROS2#requirements should be https://github.com/o3de/o3de-extras/tree/development/Gems/ROS2#requirements.

2. Clone and register the ROS2 Gem locally

~$ $DEMO_BASE/o3de/scripts/o3de.sh register -gp $DEMO_BASE/Gems/ROS2 should be ~$ $DEMO_BASE/o3de/scripts/o3de.sh register -gp $DEMO_BASE/o3de-extras/Gems/ROS2.

4. Clone and Register this project and build it

~/$ git clone https://github.com/o3de/RobotVacuumSample.git should be ~$ git clone https://github.com/o3de/RobotVacuumSample.git
~/RobotVacuumSample$ $DEMO_BASE/scripts/o3de.sh register -pp . should be ~/RobotVacuumSample$ $DEMO_BASE/o3de/scripts/o3de.sh register -pp .

5. Launch Editor

~/$ cd RobotVacuumSample/build/linux/bin/profile should be ~$ cd RobotVacuumSample/build/linux/bin/profile.

Steps to reproduce

Go to https://github.com/o3de/RobotVacuumSample/blob/main/README.md.
Read through points listed in the description.

Expected behavior
Documentation has no text errors.

Actual behavior
There are multiple text errors.

Found in Branch
main (50afd46)

Commit ID from o3de/o3de Repository
50afd46

Desktop

Device: PC
OS: Linux
Version: Ubuntu 20.04.3 LTS
CPU AMD Ryzen 5 3600
GPU NVIDIA GeForce RTX 2060 SUPER
Memory 16GB

o3de / robotvacuumsample Goto Github PK

robotvacuumsample's Introduction

O3DE (Open 3D Engine)

Contribute

Download and Install

Install Git LFS hooks

Clone the repository

Building the Engine

Build requirements and redistributables

Windows

Optional

Quick start engine setup

Setting up new projects and building the engine

Code Contributors

License

robotvacuumsample's People

Contributors

Stargazers

Watchers

Forkers

robotvacuumsample's Issues

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