This project is for testing ALAN on turtlebots in ROS.

• Ubuntu 14 (Later versions may not be supported)
• ROS (Indigo tested)
• TurtleBot software (for ROS Indigo)

1. Install Indigo
2. Install catkin tools
3. Install Turtlebot ROS

This project uses stage and rviz for simulation. There are issues with this when running in a VM. Please disable 3D acceleration or the code will crash. Highly recommended to run this in native OS.

1. Create a new workspace with caktin
2. Run the following commands from the workspace:

$ mkdir src && cd src
$ git clone https://github.com/djesmond/ROSALAN
$ cd ..
$ catkin_make
$ source devel/setup.sh

You may get an error: Unknown CMake command "generate_messages" in the collvoid experimental directory. As a work around, you can delete the experimental folder completely.

You can now run the simulations:

$ roslaunch orca_nav deadlock.launch

or

$ roslaunch orca_nav congested.launch

or

$ roslaunch orca_nav blank.launch

Sometimes the controller window crashes, just restart the simulation. Sometimes only some of the robots move, just restart the simulation.

Below is a few of the places of interrest if you wish to modify/experiement with ALAN: All the used simulations are located in the orca_nav package. These are slight modifications of those found in the multi_robot_stage. Feel free to change these.

The actual ALAN code can be found in collvoid/collvoid_local_planner/src. In collvoid_local_planner.cpp is where we call the ALAN/ORCA calcuations. Specifically line 660. The ROSAgent.cpp file is where the majority of the code is. Of interest are the methods: initAsMe, computeNewVelocity(specifically line 234 - 284), Boltzmann, addNextTimeStep and computeActionAverages.

There should be sufficent comments for those parts in the code, but prior knowlegde to the ALAN algorithm is assumed.

Some of the properties used are defined in the header files ROSAgent.h and Agent.h.