This is under construction and likely to change fast. But for now the
idea is to set up a new catkin workspace and use the contents of this
repository as the src/ subdirectory of that workspace.
mkdir -p /path/to/workspace
cd /path/to/workspace
git clone git@github.com:jenniferdavid/path_planner.git src
cd src
catkin_init_workspace
git clone https://github.com/poftwaresatent/estar2.git
git clone https://github.com/poftwaresatent/sfl2.git
cd ..
catkin_make
You should end up with usable ROS nodes etc under devel/. If it
fails to build due to message headers not being generated, repeatedly
run catkin_make until it works.
The components related to path planning depend on E* Version 2 and Sunflower Version 2 in order to avoid reinventing the wheel.
Load your default sh file as from catkin_ws as: source /devel/setup.sh
The Nepumuk simulator comes bundled with Sunflower. You can test it by running one of the older demos that do not depend on ROS, e.g.
./devel/lib/sfl2/nepumuk -c src/sfl2/apps/expo1.yaml
In the simulator, press SPACE for step-by-step mode, 'c' for continuous simulation, and 'q' to quit.
Running the Cargo-ANTs mockup entails the following (subject to change, please check the commit log if these instructions do not work).
Path Adaptor Test
roscore
./devel/lib/cargo_ants_path_adaptor/path_adaptor alice bob
rostopic pub -1 bob/path cargo_ants_msgs/Path '{path_id: 1, goals: [{gx: 40, gy: -5, gth: -1.5, dr: 1, dth: 0.1}, {gx: 40, gy: 30, gth: -0.7, dr: 0.1, dth: 0.1}]}'
rostopic pub -1 alice/path cargo_ants_msgs/Path '{path_id: 1, goals: [{gx: -5, gy: 30, gth: 2, dr: 1, dth: 0.1}, {gx: 35, gy: 18, gth: -1, dr: 0.1, dth: 0.1}]}'
If the rostopic command fails to find the cargo_ants_msgs/Path type, then you need to source the setup.bash (or other -- depending on your shell) underneath the devel directory in the cargo-ants-ros workspace.
Path Planner (and Path Adaptor) Test
roscore
./devel/lib/cargo_ants_path_planner/path_planner alice bob
./devel/lib/cargo_ants_path_adaptor/path_adaptor alice bob
./devel/lib/sfl2/nepumuk -c src/sfl2/ros/cargo-ants.yaml
rostopic pub -1 /task cargo_ants_msgs/Task '{task_id: 1, vehicle: alice, goals: [{gx: 0, gy: 40, gth: -1.5, dr: 1, dth: 0.1}, {gx: 15, gy: -5, gth: 0, dr: 1, dth: -1}, {gx: 40, gy: 20, gth: -0.7, dr: 1, dth: 0.1}]}'
rostopic pub -1 /task cargo_ants_msgs/Task '{task_id: 1, vehicle: bob, goals: [{gx: 20, gy: -6, gth: 0, dr: 1, dth: -1}, {gx: 30, gy: -5, gth: 0, dr: 1, dth: -1}, {gx: 40, gy: -6, gth: 0, dr: 1, dth: -1}, {gx: 45, gy: 5, gth: 0, dr: 1, dth: -1}, {gx: 40, gy: 15, gth: 0, dr: 1, dth: -1}]}'
For the full setup, you need to separately update estar2 and sfl2 (for now at least).
cd src/estar2
git pull
cd ../sfl2
git pull
cd ../..
catkin_make