fied dockerfile | added pedsim back to gazebo | fixed last environment bug in training

Author: ReykCS

Dockerfile

@@ -69,6 +69,9 @@ COPY . /root/src/arena-rosnav
 RUN echo -e "source /opt/ros/noetic/setup.sh" >> /root/.bashrc
 RUN echo -e "source /root/devel/setup.sh" >> /root/.bashrc
 
+RUN pip install scipy PyQt5 empy defusedxml 
+RUN pip install wandb
+
 WORKDIR /root/src/arena-rosnav
 RUN rosws update
 
@@ -77,4 +80,7 @@ RUN source /root/.bashrc \
     && source /opt/ros/noetic/setup.sh \
     && catkin_make
 
-# roslaunch arena_bringup start_arena.launch visualization:=none >> output.txt
+WORKDIR /root/src/utils/stable-baselines3
+RUN pip install -e .
+
+WORKDIR /root/

arena_bringup/launch/start_arena.launch

@@ -146,7 +146,7 @@
     <param name="scene_file" value="$(find arena-simulation-setup)/world/$(arg world_file)/scenarios/$(arg world_file).xml" type="string"/>
   </node>
 
-  <!-- <node name="pedsim_visualizer" type="pedsim_visualizer_node" pkg="pedsim_visualizer"/> -->
+  <node name="pedsim_visualizer" type="pedsim_visualizer_node" pkg="pedsim_visualizer"/>
 
   <!-- launch map generator if training with random map-->
   <!-- <group if="$(eval arg('map_file') == 'random_map')">

arena_bringup/launch/testing/simulators/gazebo.launch

@@ -32,4 +32,6 @@
     <arg name="show_rviz" value="$(arg show_rviz)" />
   </include>
 
+  <node pkg="pedsim_gazebo_plugin" type="spawn_pedsim_agents.py" name="spawn_pedsim_agents" output="screen" />
+
 </launch>