Rustpilot in MuJoCo

[M3ngL]

Rustpilot in Mujoco with mujoco-rust.

RustPilot-MuJoCo启动说明以及运行效果

环境搭建

0. 假设rust环境已配置完成

1. 下载 RustPilot

mkdir ~/project && cd ~/project
git clone https://github.com/M3ngL/RustPilot.git RustPilot

2. 安装 rust 包mujoco-rs-sys，glfw-sys以及视频流的依赖

sudo apt update
sudo apt install clang libclang-dev
sudo apt install libxrandr-dev libx11-dev libxext-dev libxinerama-dev libxcursor-dev libxi-dev
sudo apt install ffmpeg

3. 下载安装 MuJoCo 2.3.5 版本

mkdir -p ~/.local/mujoco
curl -L -O https://github.com/google-deepmind/mujoco/releases/download/2.3.5/mujoco-2.3.5-linux-x86_64.tar.gz
tar -zxvf mujoco-2.3.5-linux-x86_64.tar.gz && cd mujoco-2.3.5
cp -r * ../ && rm -r mujoco-2.3.5

4. 设置 MuJoCo 以及 mujoco-rust 相关的环境变量

export LD_LIBRARY_PATH=~/.local/mujoco/lib
export LD_LIBRARY_PATH=$ONNXRUNTIME_DIR/lib:$LD_LIBRARY_PATH

5. 下载安装 mediamtx

mkdir ~/project/mediamtx && cd ~/project/mediamtx
wget https://github.com/bluenviron/mediamtx/releases/download/v1.14.0/mediamtx_v1.14.0_linux_amd64.tar.gz
tar -zxvf mediamtx_v1.14.0_linux_amd64.tar.gz
chmod +x ./mediamtx

MediaMTX 能够充当视频流的中间代理服务器，能够将来自一个端点的视频流路由到另一个端点，实现无缝的分发和转换，支持多种协议如 SRT、WebRTC、RTSP、RTMP、LL-HLS、MPEG-TS 和 RTP 等

6. 下载 QGroundControl 以及设置 QGC 相关功能

mkdir -p ~/project/qgc && cd ~/project/qgc
curl -O -L https://github.com/mavlink/qgroundcontrol/releases/download/v5.0.7/QGroundControl-x86_64.AppImage
chmod +x QGroundControl-x86_64.AppImage

设置QGC摇杆界面打开

QGC打开视频流展示功能

编译

Rust debug版本编译

cargo build --features mjsim

Rust release版本编译

cargo build --release --features mjsim

运行

mj_sim.sh 内容如下，该文件位于 ./start_scripts/mj_sim.sh

./target/debug/rust_pilot mujoco_sim ~/project/RustPilot/sim/mujoco_x2/scene.xml

./target/debug/rust_pilot mixer ~/project/RustPilot/mixers/mj_mixer.json

./target/debug/rust_pilot att_control

./target/debug/rust_pilot -- manual_ctrl

./target/debug/rust_pilot -- mavlink_gs --addr 127.0.0.1:14550 --joystick

终端执行命令

以下命令依次按照顺序执行

终端1，执行mediamtx

cd ~/project/mediamtx && ./mediamtx

终端2，打开QGC

cd ~/project/qgc && ./QGroundControl-x86_64.AppImage

终端3，打开RustPilot服务端

cd ~/project/RustPilot && ./target/debug/rust_pilot --server

终端4，执行mjsim脚本

cd ~/project/RustPilot && ./start_scripts/mj_sim.sh

[Ncerzzk]

Thank you for the excellent contribution!
(the gazebo CI has broken for a time, I will fix it later.)