Running Deliberative Planner in Gazebo

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Description

This guide shows you how to run the new planning architecture, known as the Deliberative Planner, with a Gazebo simulation.

Requirements

• Computer 1 (local): Make sure you have a proper Gazebo installation, see Gazebo Stable Installation.
• Computer 2: Make sure you have PlayerInterface setup properly, see Running_PlayerInterface_module
• Computer 3: Make sure you have dgc/projects/FusionMapper and the dgc/projects/PathFollower compiled.

Note: In the setup I used these computers were used:

• Computer 1: Holmium laptop
• Computer 2: Chlroine laptop
• Computer 3: Berkelium laptop

Setup instructions

1. Set up the ~/local/ip and ~/local/grid files on computer 2 and 3 so they can talk with each other over MTA. Please look at Running_MTA_on_a_local_machine if you havn't done this before. My grid files looked like:
   <li> Computer 2: localhost 127.0.0.1 berkelium 192.168.0.203 <li> Computer 3: localhost 127.0.0.1 chlorine 192.168.0.21

   <li> Setup the RDDF file on computer 1 and 2: Edit dgc/bob/RDDF/Makefile and change the .rddf line to use the gazebo.rddf file. Then run on each computer (in the RDDF dir):

   $ make bob.dat
   

   <li> Create/edit a config file for PlayerInterface at computer 2 so it can connect to computer 1. My file dgc/bob/DevModules/PlayerInterface/config looked like:

   192.168.0.153
   6665
   

   </ol>

   [edit]

   Run instructions

   <li> On computer 1:
   <li> Open two shells <li> In the first shell, run $ gazebo ~/dgc/gazebo/worlds/tahoe_demo.world <li> In the second shell, run $ player -g default ~/dgc/gazebo/config/gazebo_cvs.cfg

   <li> On computer 2:

   $ cd ~/dgc/bob/DevModules/PlayerInterface
   $ ./PlayerInterface
   

   <li> On computer 3:

   <li> Open two shells <li> In the first shell, run $ cd ~/dgc/projects/FusionMapper $ ./FusionMapper <li> In the second shell, run $ cd ~/dgc/projects/PathFollower $ ./PathFollower

   <li>Now the Tahoe in the Gazebo simulation start moving along the RDDF path!