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https://github.com/intellabs/scenario_execution
Scenario Execution for Robotics
https://github.com/intellabs/scenario_execution
gazebo robotics robotics-simulation ros2 scenario scenario-testing simulation
Last synced: 6 days ago
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Scenario Execution for Robotics
- Host: GitHub
- URL: https://github.com/intellabs/scenario_execution
- Owner: IntelLabs
- License: apache-2.0
- Created: 2024-01-29T18:42:42.000Z (12 months ago)
- Default Branch: main
- Last Pushed: 2024-12-18T09:40:19.000Z (about 1 month ago)
- Last Synced: 2025-01-07T21:08:52.526Z (14 days ago)
- Topics: gazebo, robotics, robotics-simulation, ros2, scenario, scenario-testing, simulation
- Language: Python
- Homepage: https://intellabs.github.io/scenario_execution
- Size: 14.2 MB
- Stars: 53
- Watchers: 2
- Forks: 10
- Open Issues: 17
-
Metadata Files:
- Readme: README.md
- License: LICENSE
- Citation: CITATION.cff
- Security: security.md
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README
# Scenario Execution
[](https://github.com/marketplace/actions/super-linter)
[](https://scorecard.dev/viewer/?uri=github.com/IntelLabs/scenario_execution)
Scenario execution is a backend- and middleware-agnostic library written in Python based on the generic scenario description language [OpenSCENARIO DSL](https://www.asam.net/standards/detail/openscenario-dsl/) and [pytrees](https://py-trees.readthedocs.io/en/devel/).
It reads a scenario definition from a file and then executes it, reusing available checks and actions. It is easily extendable through a library mechanism.
This separation of the scenario definition from implementation massively reduces the manual efforts of scenario creation.
To give an impression of the functionality of scenario execution, the following animation shows an example scenario with a turtlebot-like robot in simulation using [Nav2](https://github.com/ros-planning/navigation2) and [ROS](https://ros.org/) as middleware to navigate towards a specified navigation goal in a simulated warehouse environment.
Once the robot reaches a reference position a box is spawned in front of the robot as an unmapped static obstacle that needs to be avoided.
Upon arrival of the goal position, the scenario ends and the simulation gets cleaned up.
## Documentation
Please find the documentation [here](https://intellabs.github.io/scenario_execution).
## How to cite
If you use Scenario Execution for Robotics in your scientific work, please cite our paper [Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests](https://arxiv.org/pdf/2409.07080)
```bibtex
@Article{Pasch2024,
author = {Pasch, Frederik and Mirus, Florian and Zhang, Yongzhou and Scholl, Kay-Ulrich},
title = {Scenario Execution for Robotics: A generic, backend-agnostic library for running reproducible robotics experiments and tests},
journal = {Computing Research Repository (CoRR)},
year = {2024},
eprint = {2409.07080},
archivePrefix = {arXiv},
primaryClass = {cs.RO},
url = {https://arxiv.org/abs/2409.07080},
}
```
## Setup
### Installation from source as ROS 2 workspace
Clone this repository, update its submodules by running:
```bash
git submodule update --init
```
install the necessary dependencies:
```bash
rosdep install --from-paths . --ignore-src
pip3 install -r requirements.txt
```
and build it
```bash
colcon build
```
## How to run
First, build the packages:
```bash
colcon build
source install/setup.bash
```
To launch a scenario with ROS2:
```bash
ros2 run scenario_execution_ros scenario_execution_ros examples/example_scenario/hello_world.osc -t
```