Team TUBDAI submission for Multi Agent Programming Contest 2018

This is the submission for the Multi-Agent Programming Contest 2018 for the team TUBDAI. It applies the ROS Hybrid Behaviour Planner Framework (RHBP) on top of the ROS (Robot Operating System) framework.

Technische Universität Berlin - DAI-Labor - http://www.dai-labor.de/

Contest homepage: https://multiagentcontest.org/2018/

Setup and Install

Dependencies

Graphhopper requires

sudo apt install maven default-jdk

mapc_utils requires

sudo apt install python-pip python-pandas python-urllib3

RHBP requires ROS. Follow instructions for ROS Kinetic here: http://wiki.ros.org/kinetic/Installation/Ubuntu

sudo apt install ros-kinetic-desktop python-pip pip install lindypy

Directory Structure

You can get the MAPC simulation server from https://github.com/agentcontest/massim/releases as a release version.

• mapc_workspace
  • src
    • rhbp
    • rhbp_self_organisation
    • mapc_rhbp_ettlinger: Main project folder
      • src: Source code
      • launch: Launch files
      • ...
    • mac_ros_bridge: ROS package that includes a proxy ROS node that works as a bridge between the massim simulation server and ROS. It converts all simulation perception and creates all required topics from the configuration.
  • script: Helper scripts to start massim
  • thirt-party: Thirt party tools
• massim
  • massim-2018-*.*
    • server
    • ...

Clone and build

1. git clone --recursive git@github.com:etticat/mapc-2018.git
2. cd mac_workspace
3. catkin_make
4. Download the latest MASSIM release https://github.com/agentcontest/massim/releases
5. Adjust the script "script/script/start_massim.sh" to use the correct release if necessary.
6. If you want to use the RHBP rqt plugin you have to start rqt once with rqt --force-discover

Execution and further Documentation

massim Server

You can start the massim server with one of the following commands, depending on your workspace.

Using binary massim distribution with script/start_massim.sh Or running directly from sources with script/start_massim_src.sh The second option requires that you have once executed mvn install in the massim sources root.

Agents

• Make sure the launch file src/mapc_rhbp_ettlinger/src/launch/start_big_prod_contest.launch contains the correct connection strings and credentials.
• start the agents using roslaunch mapc_rhbp_ettlinger start_big_prod.launch