https://github.com/juncay/petrinet_digitaltwin

Intelligent Sorting Robot DigitalTwin System with Dynamic Petri Net Scheduling
https://github.com/juncay/petrinet_digitaltwin

petri-nets reinforcement-learning ros2-humble unity3d

Last synced: 26 days ago
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Intelligent Sorting Robot DigitalTwin System with Dynamic Petri Net Scheduling

• Host: GitHub
• URL: https://github.com/juncay/petrinet_digitaltwin
• Owner: JunCay
• License: apache-2.0
• Created: 2024-09-09T03:28:18.000Z (2 months ago)
• Default Branch: main
• Last Pushed: 2024-09-29T08:09:21.000Z (about 1 month ago)
• Last Synced: 2024-09-29T10:41:04.116Z (about 1 month ago)
• Topics: petri-nets, reinforcement-learning, ros2-humble, unity3d
• Language: Python
• Homepage:
• Size: 3.32 MB
• Stars: 1
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# Intelligent Sorter Robot System Based on DigitalTwin and Petri-Net Reinforcement Learning

## 1. Project Overview

This project is aiming at achieving:

- A Intelligent Sorting Robot **DigitalTwin** system which matches the simulate(virtual) environment to the physcial(actual) environment of a sorter robot.

  - Simulate Environment based on  ***Unity3D***

  - Distributed Sytem structure based on ***ROS2***

- Discrete Abstract of Sorter-Task and Intelligent Scheduling

  - Discription in form of ***Petri-Net***

  - AI implementation of ***RL***

## 2. Sysyem Structure (updating)

### 2.0. Develop Environments

- **Communication**: ROS2 (humble) on WSL2 Ubuntu22.04

- **SimulateEnv**: Unity3D 2021.3.7f1 + ROS-TCP-Connector + URDF Importer

- **PhysicalENv**: EFM

![Structure](src/resources/images/StructureV2.0.jpg)

### 2.1. ROS2 Packages Description

***dtefm***: Digital Twin EFM (also sorter)

- dtefm_core

  - Description

    - core nodes and launch files

  - Contents

    - dtefm_command_**

      - publisher: command sending simulator

      - decoder: universal decoder to

      - server: command parser

      - gate: distributer

    - dtefm_ether_gate: tcp communication between PC & robot controller

    - dtefm_identity

- dtefm_middle

  - Description

    - Robot Intelligent nodes (self recognition)

  - Contents

    - dtefm_identity: system recognition on sr_state and petri-net state

    - dtefm_sr_IK_server: sr robot inverse kinematics

    - dynamic_schedule: (TBD, dynamic petri-net)

- dtefm_physical

  - Description

    - Physical Envrionment related

  - Contents

    - dtefm_ether_gate_p: (aborted) original gate to physical env only

    - dtefm_ether_sender_p: send tcp command to physical robot controller

    - dtefm_sr_state_sync_p: send tcp command requesting sr state to physical robot controller continuously

- dtefm_simulated

  - Description

    - Simulate Environment related

  - Contents

    - dtefm_ether_sender_s: send tcp command(simulated) to simulate environment

- dtefm_interfaces

  - Description

    - Customized msg/srv/action

- ros_tcp_endpoint (From https://github.com/Unity-Technologies/ROS-TCP-Endpoint)

  - Description

    - connect ROS2 and Unity3D

### 2.2. Simulate Environment

#### 2.2.1. Main Scene

![alt text](src/resources/images/ToP.gif)

#### 2.2.2. Dynamic Petri Net Visualization

![alt text](src/resources/images/DPN_create.gif)![alt text](src/resources/images/DPN.gif)

## 3. Toolkits

### 3.1. Petri Net Tool Kit (**PNTK**)

[**PetriNetPython**](src/dtefm_middle/resource/pntk/example_nets.py)

Used in dtefm_middle

Describe and create **Timed Color Petri Net**

### 3.2. Dynamic Petri Net Viewer

[**DPNViewer**](src/dtefm_middle/resource/dpn(unity_scripts)/pn_updator.cs)

Based in Unity3d: **pn_command <-> dtefm_identity <-> ros2 msg+srv <-> unity3d**