Installation

Prerequisites

EAGER requires ROS Melodic or Noetic and python 3.6+ to be installed.

Note

Running in ROS Melodic is supported but may cause issues in some cases. Make sure you have installed all modules needed to run ROS on python 3.

In Melodic, the gym environment side of EAGER will need to be run in python 3 but the physics bridge side can be run in both python 2 or python 3. This should allow users to run robotics hardware that does not support Noetic and python 3.

Stable Release

At this time no stable version has been released yet.

Bleeding-edge version

Currently, only a bleeding-edge version is available. We provide two ways to install the bleeding-edge version, i.e. cloning the repository into a catkin workspace and installation with pip.

Direct installation from the repository

To install EAGER directly from the repository follow these steps:

If you do not have a ROS workspace yet create one:

mkdir -p catkin_ws/src
cd catkin_ws/src

Clone the eager repository into the src folder:

git clone https://github.com/eager-dev/eager.git

Note

At this time two requirements to run the UR5e cannot be retreived using rosdep. Please clone these into the src folder using the following commands:

git clone -b melodic-devel https://github.com/ros-industrial/universal_robot.git
git clone -b kinetic-devel https://github.com/ros-industrial/ur_modern_driver.git

Move to your workspace folder and run rosdep to install any requirements:

cd ..
rosdep install --from-paths src --ignore-src -r -y

Then build and source the packages:

catkin_make
source devel/setup.bash

Installation with pip

Installation with pip also provides the possibility to perform a custom installation rather than full installation with all EAGER packages. This can done via HTTPS or SSH.

• Using HTTPS, run:

pip install git+https://github.com/eager-dev/eager

• Using SSH, run:

pip install git+ssh://git@github.com/eager-dev/eager.git

Now install EAGER by running:

install_eager

The bash script install_eager will clone the repository and create a catkin workspace at desired locations. It also asks for input in order to create links to the desired packages in this workspace. Afterwards, it will build the workspace. In order to use EAGER, the only thing that is required is sourcing:

source [EAGER_WORKSPACE_LOCATION]/devel/setup.bash

It is possible to run install_eager multiple times in order to install additional packages later.