Installation#

This guide will help you install OmniNav and its dependencies.

System Requirements#

Component

Minimum

Recommended

Python

> 3.10

3.13

CUDA

11.8+ (GPU mode)

12.x

Memory

8 GB

16 GB+

GPU

-

NVIDIA RTX Series

Installation Steps#

1. Clone Repository#

git clone https://github.com/Royalvice/OmniNav.git
cd OmniNav

2. Initialize Submodules#

Only initialize the necessary submodules (Genesis is required).

git submodule update --init external/Genesis

If you need ROS2 support (Optional):

git submodule update --init external/genesis_ros

3. Create Virtual Environment#

=== “Linux / macOS” bash     python -m venv .venv     source .venv/bin/activate    

=== “Windows” powershell     python -m venv .venv     .venv\Scripts\activate    

4. Install Dependencies & OmniNav#

pip install -r requirements.txt
pip install -e .

5. (Optional) Install ROS2 Support#

If you need ROS2 bridge functionality:

  1. Ensure ROS2 Humble is installed

  2. Source ROS2 environment

  3. Install genesis_ros:

cd external/genesis_ros
colcon build
source install/setup.bash

Verify Installation#

import omninav
print(omninav.__version__)

If no error occurs, installation is successful!

Next Steps#