Bump pyyaml from 3.13 to 5.1

CMakeLists.txt

@@ -0,0 +1,201 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(semnav_ros)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  gibson-ros
+)
+
+find_package(catkin REQUIRED genmsg actionlib_msgs actionlib)
+add_action_files(DIRECTORY action FILES NavCommand.action)
+generate_messages(DEPENDENCIES actionlib_msgs)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES semnav_ros
+#  CATKIN_DEPENDS gibson-ros
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/semnav_ros.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/semnav_ros_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_semnav_ros.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Kevin Chen
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -1 +1,168 @@
-# Coming Soon
+# A Behavioral Approach to Visual Navigation with Graph Localization Networks
+
+![GraphNav Overview](https://graphnav.stanford.edu/images/graphnav-architecture-overview.jpeg)
+
+Paper: [A Behavioral Approach to Visual Navigation with Graph Localization Networks](http://arxiv.org/abs/1903.00445)  
+Website: https://graphnav.stanford.edu/  
+Video: https://youtu.be/nN3B1F90CFM
+
+**Citing**  
+```
+@INPROCEEDINGS{Savarese-RSS-19, 
+    AUTHOR    = {Kevin Chen AND Juan Pablo de Vicente AND Gabriel Sepulveda AND Fei Xia AND Alvaro Soto AND Marynel Vázquez AND Silvio Savarese}, 
+    TITLE     = {A Behavioral Approach to Visual Navigation with Graph Localization Networks}, 
+    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
+    YEAR      = {2019}, 
+    ADDRESS   = {FreiburgimBreisgau, Germany}, 
+    MONTH     = {June}, 
+    DOI       = {10.15607/RSS.2019.XV.010} 
+} 
+```
+
+## Environment Setup
+
+### GraphNav Setup
+
+```bash
+# Need python 2 when using ROS
+conda create -n graphnav python=3.7
+
+# Install requirements
+pip install -r requirements.txt
+
+# Add graphnav
+export PYTHONPATH=$PYTHONPATH:<path-to-graphnav>/src
+```
+
+### Gibson Setup
+
+Install Gibson v2. Follow the directions [here](https://github.com/StanfordVL/GibsonEnvV2/tree/master/examples/ros/gibson2-ros) for ROS-specific instructions.
+
+Example Gibson installation below using Anaconda. For more details, see [Gibson](https://github.com/StanfordVL/GibsonEnvV2).
+```bash
+conda create -n graphnav-gibson-py2 python=2.7
+conda activate graphnav-gibson-py2
+pip install -e .  # From GibsonEnvV2 directory
+conda deactivate
+```
+
+If not done already, execute the [ROS-specific Gibson instructions](https://github.com/StanfordVL/GibsonEnvV2/tree/master/examples/ros/gibson2-ros).
+
+Example of path setup below. Put these in a script if you would like.
+```bash
+export PYTHONPATH=$PYTHONPATH:<path-to-GibsonEnvV2>
+export PYTHONPATH=$PYTHONPATH:<path-to-graphnav-gibson-py2-venv>/lib/python2.7/site-packages  # Path to virtual env if you used one (use Python 2)
+export PYTHONPATH=$PYTHONPATH:<path-to-graphnav>/src
+
+# Make sure to remove these from PATH as specified in the Gibson ROS instructions (if using Anaconda)
+echo $PATH | grep -oP "[^:;]+" | grep conda
+```
+
+Add ROS packages for Gibson and graphnav, just like the [ROS-specific Gibson instructions](https://github.com/StanfordVL/GibsonEnvV2/tree/master/examples/ros/gibson2-ros).
+```bash
+# Gibson
+ln -s <path-to-GibsonEnvV2>/examples/ros/gibson-ros/ ~/catkin_ws/src/
+cd ~/catkin_ws && catkin_make
+
+ln -s <path-to-graphnav> ~/catkin_ws/src/semnav_ros
+cd ~/catkin_ws && catkin_make
+```
+
+## Dataset Setup
+
+Download the data (collected from Gibson 1) from [here](http://download.cs.stanford.edu/downloads/graphnav/v0.2.zip). This data is used for training the behaviors networks.
+
+Replace the following in `graphnav/config.py`:
+```bash
+DATASET_ROOT = '/data/graphnav/trajectory-data'                                                                                                                                                                                            
+LOG_ROOT = '/data/graphnav/experiments'                                                                                                                                                                                                    
+STANFORD_JSON = '<path-to-graphnav>/data/semantic_labels.json'                                                                                                                                                                     
+MAPS_ROOT = '<path-to-graphnav>/maps/v0.2'
+ ```
+
+For faster data loader initialization in each run:
+```bash
+# Edit the directory in build_dataset_cache.py
+python build_dataset_cache.py --dataset_type frame_by_frame
+```
+
+## Behavior Networks
+
+### Training
+
+Example train command:
+```bash
+python learning/behavior_net/behavior_trainer.py \
+    --batch_size 32 \
+    --learning_rate 0.0001 \
+    --dataset v0.2 \
+    --n_workers 3 \
+    --behaviornet_type behavior_rnn \
+    --dataset_type temporal \
+    --print_freq 250 \
+    --val_freq 1000 \
+    --ckpt_freq 1000 \
+    --n_epochs 500 \
+    --log_dir v0.2/behavior_rnn/tl \
+    --behavior_id tl \
+    --n_frames_per_sample 20
+```
+
+An example config for different behavior networks:
+```
+# behaviornet_type, behavior_id, dataset_type
+behaviornets = [
+        ('behavior_rnn', 'tl', 'temporal'),
+        ('behavior_rnn', 'tr', 'temporal'),
+        ('behavior_cnn', 'cf', 'temporal'),
+        ('behavior_rnn', 's', 'temporal'),
+        ('behavior_cnn', 'fd', 'temporal'),
+        ]
+```
+
+## Graph Localization Network
+
+### Training
+
+```bash
+python learning/graph_net/graph_net_trainer.py \
+    --dataset v0.2 \
+    --learning_rate 1e-4 \
+    --n_workers 3 \
+    --behaviornet_type graph_net \
+    --dataset_type graph_net \
+    --print_freq 100 \
+    --val_freq 2000 \
+    --ckpt_freq 2000 \
+    --n_epochs 500 \
+    --n_frames_per_sample 20 \
+    --log_dir v0.2/graph_net \
+    --aggregate_method sum \
+    --use_gn_augmentation
+```
+
+## Rollouts in Gibson
+
+The code has been tested with ROS Kinetic (Python 2.7).
+
+### Setup for each run
+
+#### Yaml
+
+Edit the Gibson configuration [yaml file](https://github.com/StanfordVL/GibsonEnvV2/blob/master/examples/ros/gibson2-ros/turtlebot_rgbd.yaml). Pay particular attention to the model ID. Also make sure `fov: 2.62` or `150` degrees (depending on Gibson 1 or Gibson 2) and `resolution: 320`.
+
+#### Launch file
+
+Edit the ROS [launch file](https://github.com/StanfordVL/GibsonEnvV2/blob/master/examples/ros/gibson2-ros/launch/turtlebot_gt_navigation.launch). Make sure the [area yaml](https://github.com/StanfordVL/GibsonEnvV2/blob/9dfc340d85e167983df7abfd7425d4ba78ab8524/examples/ros/gibson2-ros/launch/turtlebot_gt_navigation.launch#L42) matches with the model ID specified in the `turtlebot_rgbd.yaml` and points to a yaml from the **this repo**.
+
+#### Load checkpointed models
+
+Edit `graph_net_navigation_brain.py` to load the desired checkpointed models.
+
+### Launching Gibson + ROS
+
+```bash
+roslaunch gibson2-ros turtlebot_gt_navigation.launch
+rosrun semnav_ros navigation_planner.py
+rosrun semnav_ros graph_net_navigation_brain.py --dataset_type graph_net  # No particle filter
+```