Installation 🛠️

Installation 🛠️#

Pre-Requisits#

Install ROS#

EmbodiedAgents is built to be used with ROS2. All ROS distributions starting from Iron are supported. Install ROS2 by following the instructions on the official site.

Install a model serving platform#

The core of EmbodiedAgents is agnostic to model serving platforms. It currently supports Ollama and RoboML. Please install either of these by following the instructions provided by respective projects. Support for new platforms will be continuously added. If you would like to support a particular platform, please open an issue/PR.

Tip

For utilizing larger models, it is recommended that model serving platforms are not installed directly on the robot (or the edge device) but on a GPU powered machine on the local network (or one of the cloud providers).

Install EmbodiedAgents (Ubuntu)#

Install python dependencies using pip as follows:

pip install 'attrs>=23.2.0' numpy-quaternion

For ROS versions >= ‘humble’, you can install EmbodiedAgents with your package manager. For example on Ubuntu:

sudo apt install ros-$ROS_DISTRO-automatika-embodied-agents

Alternatively, grab your favorite deb package from the release page and install it as follows:

sudo dpkg -i ros-$ROS_DISTRO-automatica-ros-sugar_$version$DISTRO_$ARCHITECTURE.deb

Install EmbodiedAgents from source#

Create your ROS workspace.

mkdir -p agents_ws/src
cd agents_ws/src

Get Dependencies#

Install python dependencies

pip install numpy opencv-python-headless 'attrs>=23.2.0' jinja2 httpx setproctitle msgpack msgpack-numpy numpy-quaternion platformdirs tqdm pyyaml toml

Download Sugarcoat🍬.

git clone https://github.com/automatika-robotics/sugarcoat

Install EmbodiedAgents#

git clone https://github.com/automatika-robotics/embodied-agents.git
cd ..
colcon build
source install/setup.bash
python your_script.py
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