This repository contains the replication package of the paper Handling uncertainty in the specification of autonomous multi-robot systems through mission adaptation published at 19th International Conference on Adaptive and Self-Managing Systems (SEAMS 2024)
Paper available at https://doi.org/10.1145/3643915.3644099
This study has been designed, developed, and reported by the following investigators:
- Gianluca Filippone (University of L'Aquila, Italy)
- Juan Antonio Piñera García (Gran Sasso Science Institute, Italy)
- Marco Autili (University of L'Aquila, Italy)
- Patrizio Pelliccione (Gran Sasso Science Institute, Italy)
For any information, interested researchers can contact us by writing an email to gianluca.filippone@univaq.it
(To be activated if the inpatient is able to grab the food by himself/herself or if there is another human in the room)
(To be activated if the inpatient is unable to grab the food and if there is no other human in the room)
uncertainty-hospital-food-delivery
| README.md # This file
| Dockerfile # Instructions for building the container for the simulation environment
| gui-docker # Run the container and launches the Gazebo environment
| open_terminal.py # Script aiding the launch of terminal inside the Docker containers
└---hospital_food_delivery
| README.md # Experiment running instructions
| CMakelists.txt # Ros makefile
| package.xml # Ros dependencies
|---launch # Ros implementation of the simulation
|---src # Ros implementation of the simulation
|---worlds # Environment models
└---mission_img # Mission specification HTN with adaptation alternatives
Linux-based system (or VM), Pyton3, Git, Docker
Install docker (if it's not installed already) by following the steps from the official website guide
Follow the post-installation steps to give docker sudo privileges
Clone the repository
git clone https://github.com/RoboChor/uncertainty-hospital-food-delivery.git
Enter the directory
cd uncertainty-hospital-food-delivery
Build the Docker image
docker build . -t hfd
Start the docker image
./gui-docker --name hfd_container hfd sleep infinity &
Warning
Run sudo chmod +x gui-docker if unable to run the previous command and retry
Run the open_terminal.py script
python3 open_terminal.py
Run the command outputted by the script to access the terminal inside the docker container
Note
As alternative, the terminal inside the container can be accessed without running the open_terminal script. Instead, run docker container ls and substitute [CONTAINER ID] in the command below with the ID of the running hfd_container:
docker exec -it [CONTAINER ID] bash
Once accessed the terminal, generate the environment
cd ~/catkin_ws/src/hospital_food_delivery/src/
python3 gen_env.py
Follow the prompts to configure the environmental conditions
Start the Gazebo simulation with the chosen configuration
roslaunch hospital_food_delivery mission_scenario.launch
Important
To run the experimentation three open terminals on the Docker container are required: the first one is the one already used to launch the Gazebo simulation; the second and third run the agents behavior.
The steps to access a new terminal inside the containers are the same as done before.
Open a new terminal window (Terminal #2) and run the open_terminal.py script
python3 open_terminal.py
Run the command outputted by the script to access the terminal inside the docker container
Note
As explained before, the terminal inside the container can be accessed without running the open_terminal script through the command
docker exec -it [CONTAINER ID] bash
Launch the robot controller for the agent 1
rosrun hospital_food_delivery robot_controller.py -ns 1
Open a new terminal (Terminal #3) for running the agent 2 behavior. Repeat the steps done before to access a new container terminal.
Launch the robot controller for the agent 2
rosrun hospital_food_delivery robot_controller.py -ns 2
The simulation of the robot executing tasks will be shown in the Gazebo graphical environment.