DynaBARN

Repository for DynaBARN. This code can be used to generate various DynaBARN environments of obstacles with different motion profiles. The 60 premade DynaBARN environments are at https://tufts.box.com/s/0dsoen9yno1qrnpj0l75eni7kmjdcx7c The Gazebo world files are under the folder titled 'DynaBARN_worlds_60'. The plugin files are under 'all_cylinder_plugins'. To simulate the 60 premade DynaBARN worlds, export the location of the plugins to the plugin path variable using

export GAZEBO_PLUGIN_PATH=/path/to/plugins/testplugin/all_cylinder_plugins

Then simulate the environment using

gazebo world_{world number}.world

Example Worlds

Requirements

Most dependencies can be installed during the building of the-barn-challenge-robo except matplotlib & scipy. If you have built the-barn-challenge-robo following the installation guide, just do a pip3 install matplotlib scipy.

• Python
• NumPy
• Matplotlib
• SciPy
• cmake
• build-essential
• Ubuntu-18.04: Gazebo 9 & libgazebo9-dev
• Ubuntu-20.04: Gazebo 11 & libgazebo11-dev

Using this repository

After cloning this repository onto your computer, create two folders called "plugins" and "worlds" in the same directory (optional). There are a few arguments for creating the trajectories and worlds:

• --save_dir and --plugin_dir are the directories for the world files and plugins, respectively
• --min_object and --max_object are the minimum and maximum number of obstacles in each world
• --n_worlds are the number of worlds to generate
• --min_speed and --max_speed are the minimum and maximum speeds between each waypoint in the trajectories for each obstacle
• --min_std and --max_std are the minimum and maximum standard deviations in speed between each waypoint
• --difficulty is the difficulty to label each trajectory, but it is not necessary

Generate worlds & plugins

python3 create_plugin_polynomial.py --n_worlds 5 --min_speed 0.5 --max_speed 2.0 --min_std 0.1 --max_std 0.2 --min_order 1 --max_order 4

Run generated world

export GAZEBO_PLUGIN_PATH=/path/to/DynaBARN/plugins/build:${GAZEBO_PLUGIN_PATH}
cd /path/to/DynaBARN/worlds
gazebo --verbose world_0.world

⚠️ NOTE: n_worlds & difficulty arguments are not in used. Current create_plugin_polynomial.py is hardcoded to always generate 20 worlds and 200 plugins. Second run of that script will overwrite previous generation unless save_dir and plugin_dir is set differently.