CyPhyHouseExperiments repository is for executable scripts for reproducing experiment results in our research papers. These scripts can be used in Intelligent Robotics Lab in UIUC as well as in our Gazebo based simulation engine, Cymulator. This repository also contains the glue code that integrates all components in the CyPhyHouse project.
CyPhyHouseExperiments is part of the CyPhyHouse project and currently requires setting up hardware devices and installing software on each device. Please visit following websites for detail usages.
Broad overview of CyPhyHouse project is available at:
Or you can find the documentation at:
R. Ghosh et al., "CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination", 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, 2020, pp. 6654-6660, doi: 10.1109/ICRA40945.2020.9196513.
@INPROCEEDINGS{CyPhyHouse,
author={Ritwika Ghosh and Joao P. Jansch-Porto and Chiao Hsieh and
Amelia Gosse and Minghao Jiang and Hebron Taylor and Peter Du and
Sayan Mitra and Geir Dullerud},
booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
title={CyPhyHouse: A programming, simulation, and deployment toolchain for heterogeneous distributed coordination},
year={2020},
volume={},
number={},
pages={6654-6660},
doi={10.1109/ICRA40945.2020.9196513}
}CyPhyHouseExperiments is licensed under the terms of the NCSA License (see the file LICENSE).
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Follow the instruction at https://github.com/cyphyhouse/Cymulator to install Cymulator. We assume the catkin workspace is under
catkin_ws.- (Optional) Follow the instruction at https://github.com/chaolmu/gazebo_models_worlds_collection to download and install additional Gazebo simulation worlds for better looking scenes.
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Clone this CyPhyHouseExperiments repository under any directory (does not need to be in the
catkin_ws):git clone https://github.com/cyphyhouse/CyPhyHouseExperiments
Following steps are required only for using Koord language compiler and middleware to run Koord experiments. You can skip these steps if you want to run other experiments such as UTM experiments, and check the specific directory for more instructions.
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Download the latest version of the koord langauge
- place
koord-0.1-jar-with-dependencies.jarinsideCyPhyHouseExperiments/experiments_koordfolder
- place
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Clone and install CyPyHous3 middleware under any directory (does not need to be in
catkin_ws).git clone https://github.com/cyphyhouse/CyPyHous3.git --branch for-cymulator # Clone the repo with the for-cymulator branch pip3 install --user -e CyPyHous3/
If the installation fails please make sure the following packages are installed:
ros-kinetic-gazebo9-ros-pkgsros-kinetic-gazebo9-rosros-kinetic-gazebo9-ros-controlros-kinetic-gazebo9-pluginsros-kinetic-ackermann-msgsros-kinetic-geographic-msgsros-kinetic-serialros-kinetic-ros-control ros-kinetic-ros-controllersros-kinetic-hector-localization ros-kinetic-hector-modelsros-kinetic-geometry2 ros-kinetic-robotlibyaml-cpp-dev- Java version 1.11 (needed for using Koord language)
netifacesdefusedxml
Assume the Koord compiler and middle-ware are already installed.
Change the working directory to experiments_koord.
To execute a Koord program that uses the Motion module, we need to first instantiate simulated devices in our Cymulator.
source catkin_ws/devel/setup.bash # catkin_ws is your workspace for catkin
rosrun cym_gazebo cymulate.py ../scenes/cym_5_drones.ymlWe then use experiment.sh to start the experiment in another terminal.
For example, run the following command to execute lineform with 5 simulated
agents in another terminal.
source catkin_ws/devel/setup.bash # catkin_ws is your workspace for catkin
./experiment.sh app_krd/lineform.krd configs/motion_5_drones.global.ymlMore applications and experiment instructions can be found under the experiments_koord folder.