Platform to test MRPP algorithms in SUMO via ROS
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Python Packages
python3 -m pip install networkx configparser pandas seaborn numpy threading rospkg catkin_pkg
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Clone into your ros workspace
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Add the following to your .bashrc script
export SUMO_HOME=/usr/share/sumo export PYTHONPATH=$SUMO_HOME/tools:$PYTHONPATH -
Ensure that the scripts are executable
chmod -R 755 /path/to/mrpp_sumo/scripts/ -
Enjoy!(?)
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Create a sumo compatible representation for the required environment with [graph_name].net.xml, [graph_name].nod.xml and [graph_name].edg.xml files and add it to the graph_sumo folder.
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Create a [graph_name].sumocfg file by copying an existing .sumocfg file and replacing the 'net-file' attribute value with [graph_name].net.xml
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Create a [graph_name].graphml file by running
python3 scripts/sumo_to_graphml.py [graph_name]This file stores the graph information in a networkx compatible format.
Coming Soon
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Add a *.yaml file to the /config folder with the required rosparameters (here's a list of required parameters)
- graph (name of the graph)
- random_string (simulation id)
- init_bots (number of bots)
- use_sim_time: true
- algo_name
- sim_length (in secs)
- init_locations: '' (if empty, locations picked at random)
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Add a *.graphml file in /graph_ml folder and a *.nod.xml, *.edg.xml, *.net.xml, *.sumocfg in /graph_sumo for the corresponding graphs
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Create an /outputs folder (if not already)
roscd mrpp_sumo
./tpbp_new.sh
Find the following files in /outputs folder
- *_command.in Contains the sequence of walks sent by your algo_file. 4 lines per command (time_stamp, bot_name, node_id sequence, time of departure (can be empty))
- *_visits.in Contains the sequence of visits excuted by the bots. 3 lines per visit (time_stamp, node_ids, bot_ids)
- *_vehicle.xml Output from SUMO file
- Add scripts to generate plots for analysis
- Lots of other cool stuff