Butler is a platform independent framework for mobile robotics, deep learning and simulated algorithms for small UGVs and differential drive robots (such as Kobuki and Jackal). The repository supports an array of algorithms aiming at mapping, localization, perception, and control in a variety of simulated environments.
The minimum requirements to get started with Butler are:
- OS : Ubuntu 16.04+, Windows 7+, Mac OS
- Browser : Google Chrome, Firefox
- Docker
Deep Learning Dependencies (optional):
- Nvidia GPU
- Nvidia Driver 418+
Please see the installation chapter in the documentation for installing and running the environments.
For a quick test run of butler, you can follow these steps after building the ROS/Gazebo container as listed in installation. Once you've built the container, run it using . run ros. This will start a VNC session in your browser at localhost:6080. Open a new terminal in that VNC session Home > System Tools > LX Terminal and type in roslaunch butler robot.launch and voila, you should be able to see the small Kobuki robot in it. For a more detailed run through, please see the tutorial chapter in the documentation.
Please see the contribution chapter in the documentation for a basic guide to develop and contribute to this repository.
Having trouble with the repository? Check out our documentation or raise an issue and we’ll help you sort it out.
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