3. Problem domain: Traffic network of Dubins cars¶
Often referred to as “the second domain,” the basic setting is navigation in a small network of roads with vehicles that follow unicycle-like dynamics.
While below we include pointers to the main websites for dependencies, many are available via packages for your OS and may already be installed, especially if you have ROS on Ubuntu 14.04. Supported platforms are described in the Introduction.
There are two major variants of this benchmark: one based in simulation and another on a physical testbed. We begin with preparations appropriate for both.
On Ubuntu, Eigen can be obtained by installing the “libeigen3-dev” deb package (https://packages.debian.org/jessie/libeigen3-dev).
Several ROS packages for the Kobuki by Yujin Robot are required.
3.1.3. Dependencies of the physical variant¶
In the below code,
$FMRBENCHMARK is the absolute path to a copy of the
fmrbenchmark repository on your machine.
3.2.1. Launching a problem instance of the simulation variant¶
Create a catkin workspace.
mkdir -p dubsim_workspace/src cd dubsim_workspace/src
At this step you should be in the root of your workspace, i.e., the directory
dubplay. Finally build everything, and launch the straightroad example.
Create symbolic links to the ROS packages in the fmrbenchmark repository required for this example.
ln -s $FMRBENCHMARK/domains/dubins_traffic/dub_sim ln -s $FMRBENCHMARK/domains/dubins_traffic/e-agents/wander
Build and install it within the catkin workspace.
cd .. catkin_make install
Because the installation is local to the catkin workspace, before beginning and whenever a new shell session is created, you must first
source command assumes that you are using the Z shell; try
setup.bash if you use Bash.
Finally, launch a small static environment of two vehicles on a straight road
roslaunch dub_sim straightroad.launch