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Setup

Environment

Install ROS 2 Humble

This step is required.

Please check official documentation.

Install nvidia driver

This step is optional.

Please refer Nvidia's official documentation.

Maintainer of this package use version 550.144.03 and Nvidia RTX 3900 GPU.

Wed May 14 00:08:19 2025       
+-----------------------------------------------------------------------------------------+
| NVIDIA-SMI 550.144.03             Driver Version: 550.144.03     CUDA Version: 12.4     |
|-----------------------------------------+------------------------+----------------------+
| GPU  Name                 Persistence-M | Bus-Id          Disp.A | Volatile Uncorr. ECC |
| Fan  Temp   Perf          Pwr:Usage/Cap |           Memory-Usage | GPU-Util  Compute M. |
|                                         |                        |               MIG M. |
|=========================================+========================+======================|
|   0  NVIDIA GeForce RTX 3090        Off |   00000000:01:00.0  On |                  N/A |
|  0%   44C    P8             30W /  420W |    1837MiB /  24576MiB |     16%      Default |
|                                         |                        |                  N/A |
+-----------------------------------------+------------------------+----------------------+

+-----------------------------------------------------------------------------------------+
| Processes:                                                                              |
|  GPU   GI   CI        PID   Type   Process name                              GPU Memory |
|        ID   ID                                                               Usage      |
|=========================================================================================|
|    0   N/A  N/A      1113      G   /usr/lib/xorg/Xorg                            895MiB |
|    0   N/A  N/A      1402      G   /usr/bin/gnome-shell                          161MiB |
|    0   N/A  N/A   3733146      G   ...seed-version=20250506-180209.207000        251MiB |
|    0   N/A  N/A   3733155      G   ...erProcess --variations-seed-version        514MiB |
+-----------------------------------------------------------------------------------------+

Install cuda/cudnn

This step is optional.

ppo_ros package depends on libtorch_vendor package.
libtorch_vendor package support CUDA/CUDNN acceleration

Please refer Nvidia's official documentation.

Maintainer of this package use CUDA 12.4

Build

mkdir -p ros2_ws/src
cd ros2_ws/src
git clone https://github.com/team-re-boot/ppo_ros.git
vcs import . < ppo_ros/dependency.repos
cd ../
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Install genesis_ros

Please refer genesis_ros documentation.