Installation

The provided containers support Linux x86_64, NVIDIA GPUs and ROS 2 Jazzy. Install Git, Python 3.10+ with venv, Docker Engine, Docker Compose 2.30+ and the NVIDIA Container Toolkit. Verify nvidia-smi and Docker GPU access before setup. Isaac Sim’s requirements determine the simulator’s supported hardware and driver.

git clone https://github.com/DisasterWorld/DisasterWorld.git disasterworld && cd disasterworld && ./dw setup

Setup creates a small Python virtual environment, obtains pinned AirStack/MIGHTY/module checkouts in .runtime, registers modules using the AirStack CLI, builds isolated container images and builds the ROS overlay. Optional CMU credentials are prompted interactively, with Skip as the default. ./dw setup --public-only skips those prompts. Credentials and caches stay in ignored local directories. Setup never resets tracked changes in an existing checkout.

Coming soon

The DisasterWorld repository is not public yet; the clone command above will work once the code is released.

The first build and model downloads need internet and substantial disk space; exact resource requirements depend on the selected policies and scenes. Inference and simulation may share GPU 0. Two GPUs are not a requirement, but a single GPU must fit the simulator and selected models. Smaller fleets and Frontier/Lawnmower are useful starting points.

Coming soon

The scene bundle is not published yet; ./dw dataset download will work once the dataset is released.

Download the scenes with:

./dw dataset download

Alternatively unpack the released self-contained bundle into dataset.root. Existing nonempty dataset directories are not replaced. Setup supports --skip-build followed by ./dw build for inspecting registration before an expensive build.

Then run a mission; configuration validation and task preparation happen automatically:

./dw run --robots 4 --baseline frontier

To work on the three repositories together, use ./dw setup --module-dir .. --public-only. This uses sibling module folders instead of downloading release revisions. The release lock records the supported AirStack and Pegasus pins; other AirStack versions are not assumed compatible.