Skip to content
No description, website, or topics provided.
Branch: master18
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Type Name Latest commit message Commit time
Failed to load latest commit information.
.circleci
lib-uplan
resources
ros-uplan
sub-uplan-uncertainty
.compmake.rc
.dockerignore
.gitattributes
.gitignore
Dockerfile
LICENSE.pdf
Makefile
README.md

README.md

CircleCI

Coverage Status

PyPI status

PyPI pyversions

Planning with Uncertainty

This project aims to plan a path for a duckiebot while taking into account various sources of uncertainty. Upon successful completion of the demo, you should expect a simulation implementing both collision-free path planning and velocity profiling algorithms, as in the figure below:

Pre-flight checklist

Those following prerequisites ensure that the simulation will run properly:

Check: Desktop-Full installation of ros-kinetic

Check: duckietown-world (and all its requirements)

Check: Ubuntu16.04 with python2.7

Check: Docker installation for docker instructions

Demo instructions

Docker instructions

First, pull the docker image:

$ docker pull aroumie1997/uplan:v1

Next, run:

$ docker run -it \
   --env="DISPLAY" \
   --env="QT_X11_NO_MITSHM=1" \
   --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
   aroumie1997/uplan:v1

Note: In order to see the rviz simulation, the host OS should have a desktop-full installation of ros with rviz. You may need to run the following line before running the container:

$ xhost +local:root

After running the container, do not forget to run the following, as this compromises access control to X server on your host:

$ xhost -local:root

ROS-only instructions

ASSUMPTION: YOU ARE ABLE TO IMPORT duckietown_world SUCCESSFULLY

Step 0: Make sure you sourced ros

$ source /opt/ros/kinetic/setup.bash       (Use setup.zsh If you are using zsh shell)

Step 1: Create a catkin workspace in your home directory

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src

Step 2: Clone the following repo duckietown-uplan

$ git clone https://github.com/duckietown/duckietown-uplan

Step 3: Installation of dependencies (NOTE: make sure that pip installation belongs to python2.7)

$ cd duckietown-uplan/lib-uplan
$ pip install -r requirements.txt --user       (Might require --user)
$ sudo python setup.py develop --no-deps

Step 4: Go back to catkin_ws main directory and run catkin_make

$ cd ../../..
$ catkin_make

Ensure all three packages build correctly and custom messages are built, now two more steps left:

$ source devel/setup.bash               (Or zsh)
$ roslaunch uplan_visualization planningUncertainty.launch
You can’t perform that action at this time.