Minimum working example for ROS Melodic

[dnandha]

Minimum working example for iGibson with ROS Melodic.
Adds a conda environment file and uses TurtleBot3.

Note: VelocityMuxer is not available for ROS Melodic and has been commented out.

Installation for ROS Melodic

• conda env create -f environment.yml
• conda activate py2-igibson
• pip install -e .
• export PYTHONPATH="$PYTHONPATH:<PATH_TO_IGIBSON>" (add this line to ".bashrc" for auto export in future)
• sudo apt install python-catkin-tools ros-melodic-turtlebot3-teleop ros-melodic-depthimage-to-laserscan ros-melodic-hector-mapping
• mkdir -p ~/catkin_ws/src
• cd <PATH_TO_IGIBSON>/gibson2
• ln -s $PWD/examples/ros/gibson2-ros ~/catkin_ws/src/
• cd ~/catkin_ws
• rosdep install --from-paths src --ignore-src -r -y
• catkin build

Running with ROS

• source ~/catkin_ws/devel/setup.bash
• roslaunch gibson2-ros turtlebot_rgbd.launch