Installation

1. Install ros2-humble by following the instructions on the linked page. Afterward, complete the CLI-Configuring-Environment tutorial to source your setup files.

2. Create your ROS2 workspace.

   mkdir cyberrunner_ws && cd cyberrunner_ws && mkdir src && cd src
   

3. Clone this repository into your ROS2 workspace and navigate back to the workspace root.

   git clone https://github.com/thomasbi1/cyberrunner.git
   cd ..
   

4. Install jax with GPU support.

   pip install --upgrade "jax[cuda12_pip]" -f https://storage.googleapis.com/jax-releases/jax_cuda_releases.html
   

5. Install dreamerv3. NB: The current version of dreamerv3 requires gym==0.19.0, which is not supported by pip>=24.1. pip must be downgraded to install dreamerv3.

   pip install --upgrade pip==24.0
   pip install -e src/cyberrunner/dreamerv3
   

   Optional: To revert pip to the most updated version run the following.

   pip install --upgrade pip
   

6. Install dependencies with rosdep.

   sudo rosdep init
   rosdep update
   rosdep install --from-paths src -y --ignore-src
   

7. Install the CyberRunner packages.

   colcon build --symlink-install