seo2730 / cbba_sim

Hardware demonstration for CBBA

Task Assignment and route-planning among multiple autonomous vehicles system

1. Development Environment

• OS: Ubuntu 16.04,
• Compiler: gcc 4.7+
• Building System: CMake

2. Install Dependencies

Update system

$ sudo apt-get update
$ sudo apt-get -y upgrade

Development tools for C++, java, and python

$ sudo apt-get -y install build-essential git cmake
$ sudo apt-get -y install openjdk-8-jdk
$ sudo apt-get -y install python-dev python-pip
$ sudo apt-get -y install python-numpy python-scipy python-matplotlib

Commonly used libraries

$ sudo apt-get install autoconf
$ sudo apt-get install libglib2.0-dev
$ sudo apt-get -y install autotools-dev automake autopoint libtool
$ sudo apt-get -y install libopencv-dev python-opencv
$ sudo apt-get -y install libboost-all-dev libeigen3-dev
$ sudo apt-get -y install libcgal-dev

Install Visual Studio code (Optional)

Can download the file from https://code.visualstudio.com/ and install mannually. Otherwise, run:

$ sudo apt-get -y install apt-transport-https 
$ curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > microsoft.gpg
$ sudo mv microsoft.gpg /etc/apt/trusted.gpg.d/microsoft.gpg
$ sudo sh -c 'echo "deb [arch=amd64] https://packages.microsoft.com/repos/vscode stable main" > /etc/apt/sources.list.d/vscode.list'
$ sudo apt-get update
$ sudo apt-get -y install code

LCM (Lightweight Communications and Marshalling)

Check https://lcm-proj.github.io/index.html for more information about LCM

Create a folder
$ mkdir -p ~/software/lcm-lib
$ cd ~/software/lcm-lib

Clone LCM source, compile and install
$ git clone https://github.com/lcm-proj/lcm.git lcm
$ cd lcm
$ mkdir build
$ cd build
$ cmake ..
$ make
$ sudo make install

Post install
$ export LCM_INSTALL_DIR=/usr/local/lib
$ echo $LCM_INSTALL_DIR > /etc/ld.so.conf.d/lcm.conf

Spot (Required by LTL)

Download the latest version of spot from website: https://spot.lrde.epita.fr/install.html Extract files into ~/software

$ cd ~/software
$ ./configure
$ ./configure --disable-python
$ make
$ sudo make install

$ sudo apt-get install gedit
$ gedit ~/.bashrc
Add the following line to your ~/.bashrc
$ export LD_LIBRARY_PATH=:/usr/local/lib/

3. Set up workspace

Set up the workspace at any location as you prefer. Here I use "~/Workspace/cbba_sim" as example

$ mkdir -p ~/Workspace/cbba_sim
$ cd ~/Workspace/cbba_sim
$ git init
$ git remote add origin https://github.com/jfangwpi/task_allocation.git
$ git pull origin master

4. Build the project

$ mdkir build
$ cd build
$ cmake ../src
$ make

5. Set LCM path (Not required right now)

$ gedit ~/.bashrc
Add the follwing lines to the ~/.bashrc
$ export LTLSAMPLING=$HOME/Workspace/cbba_sim
$ export PYTHONPATH=$LTLSAMPLING/src/lcmtypes/python:$LTLSAMPLING/src/lcmtypes/python/communicate_data:$PYTHONPATH

6. Test the example

Visualize the map

Edit the configuration files for agents, tasks and map. These configuration files are stored at "/cbba_sim/src/config" Once the editing is completed, run

$ cd bin
$ ./test_map

Check the result at "/cbba_sim/build/bin", the result is the figure called "result_map.jpg". Example of the result can be:

Comments about result

1. The grey cells are obstacles, orange cells are regions of interest (tasks) and the cell marked by v_i is the initial position of vehicle i.

Task assignment among multiple vehicles by CBBA

Once the information of agents, tasks and map is defined, run the following command to visualize the result of task assignment among multiple vehicles by CBBA

$ cd bin
$ ./test_cbba

Check the result at "/cbba_sim/build/bin", the result is the figure called "result_cbba.jpg". Example of the result can be:

Comments about result

1. The feasible path for vehicle i is draw by straight line with corresponding color, i.e., vehicle 1 is required to move to cell 6 first, then move to cell 75 along the blue line.