Installation

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This document primarily provides installation guidance for projects on both Linux systems (Ubuntu22.04) and Windows systems.

Linux(Ubuntu22.04)

The reason for choosing Ubuntu22.04 is that the simulation engine we use, webots2023b, is compatible with the Linux system version Ubuntu22.04. If you have installed another version of Linux, you can refer to the webots code repository to download and configure the appropriate version.

Step1 Install the Webots simulation software

Download the deb package of webots 2023b version (e.g., webots-R2023b-x86-64.deb) and the asset files (assets-R2023b.zip) from webots, and install them using the following command:

Webots Installation

## install
sudo dpkg -i webots_2023b_amd64.deb

## run
webots

Asset Decompression

mkdir -p ~/.cache/Cyberbotics/Webots/assets/

cp ~/Downloads/assets-R2023b.zip ~/.cache/Cyberbotics/Webots/assets/

## unzip
cd ~/.cache/Cyberbotics/Webots/assets/ && unzip ./assets-R2023b.zip

Step2 Creating a Virtual Environment and Installing Libraries

Virtual Environment Creation

conda create -n uav_follow311 python=3.11
conda activate uav_follow311

Algorithm Side

## Alg requirements
pip install torch==2.2.0 torchvision==0.17.0 torchaudio==2.2.0 --index-url https://download.pytorch.org/whl/cu121
pip install numpy==1.25.0
pip install opencv-python==4.9.0.80
pip install gym==0.25.1
pip install setproctitle==1.3.3
pip install tensorboard
pip install tqdm
pip install stable-baselines3==2.3.0
pip install sb3_contrib==2.3.0
pip install gymnasium
pip install wandb==0.17.6
pip install memory_profiler==0.61.0
pip install psutil==6.0.0
pip install pandas
pip install openpyxl
pip install tianshou==1.1.0

Simulator Side

## Simulator requirements
sudo apt-get install libeigen3-dev
sudo apt-get install nlohmann-json3-dev

sudo apt install sumo sumo-tools sumo-doc
pip install lxml pyproj shapely webcolors configparser --user
pip install transforms3d

## config
gedit ~/.bashrc
# Change dir according to your installation
export SUMO_HOME=/usr/share/sumo
export WEBOTS_HOME=/usr/local/webots

Step3 Modify the Python environment for running Webots

Since the environment we are using is different from Webots’ default Python environment, we need to create symbolic links for our new environment and configure it.

ln -s /root/miniconda3/envs/uav_follow311/bin/python3.11 /usr/bin/python311

Next, open the webots software, go to Tools -> Preferences, and modify the option Python command as shown in the following image:

Python command配置

Python command config

Windows

Note: Although this project has been tested and can run on Windows systems, due to the relatively complex compilation and installation process of related cpp libraries, it is not recommended to use Windows systems!

Step1 Install Webots Simulation Software

  1. Download the webots 2023b version installer ( .exe file) and the asset file ( assets-R2023b.zip ) from webots.

  2. Copy the assets to the specified path: C:/Users/<USER>/AppData/Local/Cyberbotics/Webots/cache/assets Then open Webots. If the environment displays correctly during the tour guide stage for new users, the installation is complete.

Step2 Create Virtual Environment and Install Libraries

Virtual Environment Creation

conda create -n uav_follow311 python=3.11
conda activate uav_follow311

Algorithm Side

## Alg requirements
pip install torch==2.2.0 torchvision==0.17.0 torchaudio==2.2.0 --index-url https://download.pytorch.org/whl/cu121
pip install numpy==1.25.0
pip install opencv-python==4.9.0.80
pip install gym==0.25.1
pip install setproctitle==1.3.3
pip install tensorboard
pip install tqdm
pip install stable-baselines3==2.3.0
pip install sb3_contrib==2.3.0
pip install gymnasium
pip install wandb==0.17.6
pip install memory_profiler==0.61.0
pip install psutil==6.0.0
pip install pandas
pip install openpyxl
pip install tianshou==1.1.0

Emulator Side

1. Installation of Python libraries 

## Simulator requirements
conda activate uav_follow311
pip install lxml pyproj shapely webcolors configparser --user
pip install transform3d
2. C++ Library Installation (If recompilation of the C++ code is not needed, this can be ignored)

  • First, download the latest version of the Eigen3 library from the official website eigen.

  • Download and install the latest version of the Eigen3 library. Eigen download link

  • Download and install the latest version of the nlohmann-json3 library. nlohmann-json3 download link

3. Webots' makefile configuration (can be ignored if the C++ part does not need to be recompiled)

Paths of makefile files that need to be modified include: Webots_Simulation/traffic_project/controllers/drone_ctrl2/Makefile Webots_Simulation/traffic_project/controllers/simpleCar_ctrl/Makefile

Since the Linux system generally does not require additional settings for include paths, a check for the Windows system has been made. If it is a Windows system, you need to manually modify the makefile of the drone_ctrl2 and simpleCar_ctrl controllers, adding the include paths for eigen and nlohmann_json.

null :=
space := $(null) $(null)
WEBOTS_HOME_PATH?=$(subst $(space),\ ,$(strip $(subst \,/,$(WEBOTS_HOME))))
ifeq ($(OS),Windows_NT)
    INCLUDE += -I D:/cppLibrary/include/Eigen3/include/eigen3
    INCLUDE += -I D:/cppLibrary/include/nlohmann_json/include
endif
include $(WEBOTS_HOME_PATH)/resources/Makefile.include

  • Among them, INCLUDE += -I D:/cppLibrary/include/Eigen3/include/eigen3 needs to be configured as the path to the Eigen3 library.

  • INCLUDE += -I D:/cppLibrary/include/nlohmann_json/include needs to be configured to the path of the nlohmann-json3 library.

  • After completing the above modifications, you can open the controller in the Webots editor and recompile it.

4. Install sumo

5. webots and sumo environment variable configuration

  • First, press WIN+R to bring up the Run window, then type sysdm.cpl to open the System Properties page. Next, select “Advanced” -> “Environment Variables” -> “System variables” -> “New”.

  • Insert SUMO_HOME configured as shown in the following figure:

    SUMO_HOME configuration

    SUMO_HOME Configuration

  • Insert WEBOTS_HOME and configure it as shown in the figure below:

    WEBOTS_HOME configuration

    WEBOTS_HOME configuration

Step3 Modify the Python environment for running Webots

  • In Linux systems, the issue is resolved by adding a symbolic link, while in Windows, the running path is directly inserted into webots.

  • Enter the webots software, select Tools -> Preferences, and modify the Python command option as shown in the figure below:

Python_CommandWIN configuration

Python_Command(Windows) configuration

Docker

Step1 Download Webots and Create Docker Container to Run with GPU

  • Create Workspace and Download Webots

## Create Workspace
mkdir Workspace
cd Workspace/
git clone https://github.com/cyberbotics/webots-docker.git

  • Create Docker Container and Run with GPU

sudo docker run --gpus "device=0" --privileged=true -p 5900:5900 -p 7787:7787 -p 6006:6006 -it cyberbotics/webots:latest /bin/bash

Step2 Creating a Virtual Environment and Installing Libraries

  • Virtual Environment Creation:

conda create -n uav_follow311 python=3.11
conda activate uav_follow311

  • Algorithm Side:

## Alg requirements
pip install torch==2.2.0 torchvision==0.17.0 torchaudio==2.2.0 --index-url https://download.pytorch.org/whl/cu121
pip install numpy==1.25.0
pip install opencv-python==4.9.0.80
pip install gym==0.25.1
pip install setproctitle==1.3.3
pip install tensorboard
pip install tqdm
pip install stable-baselines3==2.3.0
pip install sb3_contrib==2.3.0
pip install gymnasium
pip install wandb==0.17.6
pip install memory_profiler==0.61.0
pip install psutil==6.0.0
pip install pandas
pip install openpyxl
pip install tianshou==1.1.0

  • Simulator Side:

## Simulator requirements
sudo apt-get install libeigen3-dev
sudo apt-get install nlohmann-json3-dev

sudo apt install sumo sumo-tools sumo-doc
pip install lxml pyproj shapely webcolors configparser --user
pip install transforms3d

## config
gedit ~/.bashrc
# Change dir according to your installation
export SUMO_HOME=/usr/share/sumo
export WEBOTS_HOME=/usr/local/webots

  • Add Python symbolic Links:

## Create symbolic link for algorithm side Python
ln -s /root/miniconda3/envs/uav_follow_alg311/bin/python3.11 /usr/bin/python311
## Create symbolic link for simulation side Python
ln -s /root/miniconda3/envs/uav_follow311/bin/python3.11 /usr/bin/python311
mv /usr/bin/python3.10 /usr/

Step3 Configure Project Workspace

  • Download Project

## Clone project
mkdir /usr/local/Github_Project
cd /usr/local/Github_Project
git clone ${github_link}

  • run webots simulation

## Run simulation initialization code, ensure the program completes initialization before proceeding
conda activate uav_follow311
xvfb-run -a webots --stdout --stderr --no-rendering --batch --mode=fast ${map_file}
ps aux | grep xvfb
x11vnc -display :99 -auth ***

  • Configure Algorithm Side

cd /usr/local/Github_Project/UAV_Follow_Env/Alg_Base/DAT_Benchmark/
python311 ${main_path}
Here, the path for ${main_path} can be found in: Introduction to the Algorithm Section