IMHuS

Presentation

Requirements

ROS Melodic Gazebo 9 Tiago simulation packages for gazebo : https://github.com/pal-robotics ORCA : https://github.com/sybrenstuvel/Python-RVO2 (to cite)

Example

launch Gazebo :

roslaunch imhus_gazebo gazebo.launch

add “gui:=true” for graphics

add “robot:=true” for tiago

add “nb_humans:=??” with ?? the number of humans (default=5)

launch IMHuS :

roslaunch imhus imhus.launch

In the small terminal (boss) that opens, select Scenarios (1) then the first scenario (1).

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TIPS

For testing a robot

communication with IMHuS through AsyncAction like in example video a script that publishes the pose and twist of the robot to the ORCA node

To add more humans

comment or uncomment them in the file simulator/gazebo/world/elevator.world + set the parameter nb_humans when launching Gazebo

To reset humans pose in gazebo

publish an empty msg to /gazebo/reset

To set the pose of the robot

rosservice call /gazebo/set_model_state with “tiago” as model_name and fill the other fields.

To change the simuator

add a folder in src/simulators/ with the launch files, the models of the world and of the agents the relevant topics that bridge IMHuS to the simulator are called /imhus/input/* or /imhus/output/* (one for each agent). IMHuS takes in input the odometry of each agent (Pose+Twist) and outputs a command (Twist). For now Orca takes in input this twist and send an altered command, either /orca/output//cmd_vel or /orca/output//cmd_pose (Twist or Pose)