active vision

ros2 launch roverrobotics_gazebo Leo_rover_fisheye.launch.py ros2 launch roverrobotics_gazebo Leo_rover_fisheye.launch.py headless:=true

cd attention/inference python fisheye_ros2_mem_share.py

cd ~/src/attention conda activate attent python inference.py --attention_mode ./model_output/checkpoint_epoch_1000.pkl

Dreamerv3 commands

conda activate jaxRos FILTERED_LD_LIBRARY_PATH=$(echo $LD_LIBRARY_PATH | tr ':' '\n' | grep -E '^/opt/ros' | tr '\n' ':' | sed 's/:$//')

defense vid:

env LD_LIBRARY_PATH="$FILTERED_LD_LIBRARY_PATH" CUDA_HOME="" XLA_PYTHON_CLIENT_PREALLOCATE=false XLA_PYTHON_CLIENT_ALLOCATOR=platform python dreamerv3/main.py --configs leorover --script eval_only --logdir ./logdir/dreamer/0831T1151_working --run.eval_eps 100 --run.eval_envs 1 --run.from_checkpoint ./logdir/dreamer/0831T1151_working/ckpt/2025

Dynamic Obstacles

python spawn.py --trajectory_file trajectories/inspect_linear.sdf --world_name inspect --actor_name linear python spawn_float.py --trajectory_file trajectories/inspect_corner_triangle.sdf --world_name inspect --actor_name triangle

Terminal 1: Gazebo (includes static TF now)

ros2 launch roverrobotics_gazebo Leo_rover_depth.launch.py ros2 launch roverrobotics_gazebo Leo_rover_lidar.launch.py

Terminal 2: Nav2

ros2 launch roverrobotics_gazebo leo_nav2_lidar_launch.py

Terminal 3: RViz2

cd /rover_metrics python nav2_lidar_metrics_collector.py inspect

rviz2 rviz2 --ros-args -p use_sim_time:=true

Nav2

Open RViz2: rviz2 Set Fixed Frame to odom Add displays:

Map → topic: /local_costmap/costmap Map → topic: /global_costmap/costmap Add PointCloud2 → topic: /depth_camera/points pointcloud → topic: /local_costmap/costmap Path → topic: /plan

Click the 2D Goal Pose button in the toolbar Click and drag on the map to set a goal position and orientation

################# Statistical Analysis ########################

~/src/RoboTerrain/ros2_ws/src/rover_metrics/metrics_data$ python table_metrics.py inspect inspect/Active_Vision/ test_out.csv

python statistical_analysis.py island --output island_results.csv python csv_to_latex.py island_results.csv --output island_table.tex

python permutation_test.py island --base_dir /home/jack/src/RoboTerrain/ros2_ws/src/rover_metrics/metrics_data --metric p05 --cond_a "Active_Vision" --cond_b "no_soc_nav" --n_perm 50000 --seed 0

################# Roboterrain and Attention: ########################

export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

ros2 launch roverrobotics_gazebo Leo_rover_gazebo.launch.py

active vision

ros2 launch roverrobotics_gazebo Leo_rover_fisheye.launch.py ros2 launch roverrobotics_gazebo Leo_rover_fisheye.launch.py headless:=true

ros2 launch roverrobotics_gazebo Leo_rover_depth.launch.py

#export ROS_DOMAIN_ID=0

#REAL time factor 1.40 #Step size 0.005

#python3 ign_ros2_pose_topic.py inspect leo_rover

#python3 ign_ros2_Nav2_topics.py moon leo_rover --ros-args -p use_sim_time:=true

cd attent/inference python ros2_mem_share.py python fisheye_ros2_mem_share.py

~/src/attention

conda activate attent python inference.py --attention_mode ./model_output/checkpoint_epoch_1000.pkl

dynamic obstacles

inspect

python spawn.py --trajectory_file trajectories/inspect_linear.sdf --world_name inspect --actor_name linear ros2 run ros_gz_bridge parameter_bridge /linear_actor/pose@geometry_msgs/msg/Pose[gz.msgs.Pose

python spawn_float.py --trajectory_file trajectories/inspect_corner_triangle.sdf --world_name inspect --actor_name triangle

constuct

python spawn.py --trajectory_file trajectories/construction_upper.sdf --actor_name upper --world_name default

island/moon

python spawn_float.py --trajectory_file trajectories/flat_triangle_traject.sdf --world_name moon --actor_name triangle

Dreamerv3 commands

conda activate jaxRos FILTERED_LD_LIBRARY_PATH=$(echo $LD_LIBRARY_PATH | tr ':' '\n' | grep -E '^/opt/ros' | tr '\n' ':' | sed 's/:$//')

Active Vision

python plot_RL_metrics.py 0831T1151_working/metrics.jsonl --window 30

############## ROS2 commands ######################## ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/leo1/cmd_vel

to see what 96x96 view looks like.

ros2 launch launch/crop_decimate.launch.py

ros2 run rqt_image_view rqt_image_view

ros2 daemon start

############## new world setup ########################

new Actor trajectory

ros2 bag record /rover/pose_array python trajectory-from-bag.py > construction_upper.sdf

############## OLD SB3 ######################## python sb3_SAC.py --mode train --load False --world inspect --vision True

python sb3_SAC.py
--mode train
--load True
--world island
--vision True
--checkpoint_name checkpoints/sac_island_20250804_1954_1000000_steps.zip
--normalize_stats checkpoints/sac_island_20250804_1954_1000000_steps_normalize.pkl

python spawn.py --trajectory_file trajectories/inspect_linear.py --actor_name linear_actor --world_name inspect /dynamic_obstacles$ python spawn.py trajectory_file_name actor_name walk_name world_name /dynamic_obstacles$ python spawn_publisher.py trajectory_file_name actor_name walk_name world_name

Leo Rover

ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=marsyard2020.sdf robot_ns:=leo1

python ign_ros2_pose_topic.py leo_marsyard leo_rover_leo1

python dreamerv3/leo_main.py --logdir ~/logdir/{timestamp} --configs leorover --run.train_ratio 64

python dreamerv3/leo_main.py --logdir ~/logdir/20250315T131727 --configs leorover

ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args -r /cmd_vel:=/leo1/cmd_vel

to see what 96x96 view looks like.

ros2 launch launch/crop_decimate.launch.py

ros2 run rqt_image_view rqt_image_view

launch gazeob

ros2 launch roverrobotics_gazebo 4wd_rover_gazebo.launch.py

#pose converter: python3 ign_ros2_pose_topic.py inspect rover_zero4wd

agent

conda activate sb3 python sb3_SAC.py --load False python sb3_SAC.py --load True --checkpoint_name checkpoints/ppo_rover_model_20241115_1152_900000_steps.zip python sb3_SAC.py --mode predict --load True --checkpoint_name checkpoints/sac_baseline_pointnav.zip --normalize_stats checkpoints/vec_normalize_20250201_1453_final.pkl

tensorboard

~/src/RoboTerrain/ros2_ws/src/sb3$ tensorboard --logdir tboard_logs/

metrics logger in ~/rover_workspace/rover_metrics/

ros2 run rover_metrics metrics_node

Claude prompt

How will you go about writing this program? I prefer a functional programming style with explicit variable typing. Please ask me any questions that you have or clarifications that you need. If you have any suggestions please let me know. Do not write the program yet. Let us work on getting all issues resolved and then write the program.

Dream Rover commands:

python dreamerv3/main.py --configs rover --logdir ~/logdir/r_camera_test

python dreamerv3/main.py --configs rover --logdir ~/logdir/rover

python dreamerv3/main.py --configs turtlebot --logdir ~/logdir/turtlebot

python dreamerv3/main.py --logdir ~/logdir/{timestamp} --configs dmc_proprio

################ ROS2

ros2 launch roverrobotics_gazebo 4wd_rover_gazebo.launch.py

ros2 launch turtlebot4_ignition_bringup turtlebot4_ignition.launch.py

ign fuel download -u https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Jersey%20Barrier

#rviz2: 'Fixed Frame' set to lidar_link ros2 run rviz2 rviz2

ros2 run rqt_image_view rqt_image_view

ros2 run teleop_twist_keyboard teleop_twist_keyboard

ros2 control list_controllers

#Open an sdf world. for headless use '-s' for server mode ign gazebo -v 4 simplecave3.sdf -s

to open an sdf, first start gazebo with empty then run the ign command

#ign gazebo empty.sdf #ign service -s /world/empty/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 10000 --req 'sdf_filename: "/home/jack/worlds/harmonic/h_terrain/model.sdf"'

ros2 run rqt_image_view rqt_image_view

Fix contollers: ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{start_controllers: ['joint_state_broadcaster'], stop_controllers: [], strictness: 1, start_asap: false, timeout: {sec: 5, nanosec: 0}}"

ros2 service call /controller_manager/switch_controller controller_manager_msgs/srv/SwitchController "{start_controllers: ['diffdrive_controller'], stop_controllers: [], strictness: 1, start_asap: false, timeout: {sec: 5, nanosec: 0}}"

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Files

robot urdf files: changed lidar from 640 to 64

/opt/ros/humble/share/turtlebot4_description/urdf/

#world file with update rate: /opt/ros/humble/share/nav2_simple_commander/warehouse.world

colcon build --symlink-install

rozer map is 20 x 20 meters

list ign topics

ign topic -l ign topic -t <topic_name> -e # echo ign topic -t /world/maze/dynamic_pose/info -i #info

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable lsb_release -cs main" > /etc/apt/sources.list.d/gazebo-stable.list' wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - sudo apt update

sudo apt install ignition-edifice sudo apt install ignition-edifice-fuel-tools

export IGN_GAZEBO_RESOURCE_PATH=$HOME/src/RoboTerrain/models:$IGN_GAZEBO_RESOURCE_PATH

Show sizes of all directories in current folder, sorted:

du -h --max-depth=1 | sort -h du -sh ./*

Provide feedback

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active vision

Dreamerv3 commands

defense vid:

Dynamic Obstacles

Terminal 1: Gazebo (includes static TF now)

Terminal 2: Nav2

Terminal 3: RViz2

Nav2

active vision

~/src/attention

dynamic obstacles

inspect

constuct

island/moon

Dreamerv3 commands

Active Vision

to see what 96x96 view looks like.

new Actor trajectory

Leo Rover

to see what 96x96 view looks like.

launch gazeob

agent

tensorboard

metrics logger in ~/rover_workspace/rover_metrics/

Claude prompt

Dream Rover commands:

to open an sdf, first start gazebo with empty then run the ign command

Files

robot urdf files: changed lidar from 640 to 64

list ign topics

Show sizes of all directories in current folder, sorted:

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dissertation_notes.md

Latest commit

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dissertation_notes.md

File metadata and controls

active vision

Dreamerv3 commands

defense vid:

Dynamic Obstacles

Terminal 1: Gazebo (includes static TF now)

Terminal 2: Nav2

Terminal 3: RViz2

Nav2

active vision

~/src/attention

dynamic obstacles

inspect

constuct

island/moon

Dreamerv3 commands

Active Vision

to see what 96x96 view looks like.

new Actor trajectory

Leo Rover

to see what 96x96 view looks like.

launch gazeob

agent

tensorboard

metrics logger in ~/rover_workspace/rover_metrics/

Claude prompt

Dream Rover commands:

to open an sdf, first start gazebo with empty then run the ign command

Files

robot urdf files: changed lidar from 640 to 64

list ign topics

Show sizes of all directories in current folder, sorted: