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https://github.com/shineyruan/vehicle-routing-ros2
Implementation of dynamic vehicle routing (DVR) algorithms in a truely distributed fashion based on ROS 2.
https://github.com/shineyruan/vehicle-routing-ros2
dynamic-vehicle-routing-problem multi-agent-systems multiagent-systems vehicle-routing vehicle-routing-problem
Last synced: about 2 months ago
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Implementation of dynamic vehicle routing (DVR) algorithms in a truely distributed fashion based on ROS 2.
- Host: GitHub
- URL: https://github.com/shineyruan/vehicle-routing-ros2
- Owner: shineyruan
- License: mit
- Created: 2022-05-02T05:13:37.000Z (over 2 years ago)
- Default Branch: humble
- Last Pushed: 2024-10-14T18:16:27.000Z (2 months ago)
- Last Synced: 2024-10-18T08:29:32.318Z (2 months ago)
- Topics: dynamic-vehicle-routing-problem, multi-agent-systems, multiagent-systems, vehicle-routing, vehicle-routing-problem
- Language: C++
- Homepage: https://github.com/lb-robotics/python-vehicle-routing
- Size: 43.9 KB
- Stars: 3
- Watchers: 2
- Forks: 1
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# vehicle-routing-ros2
Implementation of dynamic vehicle routing (DVR) algorithms in a truly distributed fashion based on ROS 2.
For a simplified version, please check out .
## Software Requirements
- Ubuntu 22.04 LTS (Jammy)
- ROS 2 Humble
## Usage
1. Create ROS workspace.
```bash
mkdir -p ~/dvr_ws/src
```
2. Clone this repo into `src` folder.
```bash
cd ~/dvr_ws/src
git clone https://github.com/shineyruan/vehicle-routing-ros2.git
```
3. Install dependencies.
```bash
cd ~/dvr_ws
source /opt/ros/humble/setup.bash
sudo rosdep init
rosdep update
rosdep install --from-paths src -i -y
```
4. Build the workspace. The entire workspace is composed in `dvr_launch` package.
```bash
cd ~/dvr_ws
colcon build --symlink-install --packages-up-to dvr_launch --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
```
**Note.** For easier Colcon usage, one can make use of the [Colcon mixin repository](https://github.com/colcon/colcon-mixin-repository). Simply install the Colcon mixin extension via
```bash
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
```
then we can get rid of the `--cmake-args` arguments:
```bash
colcon build --symlink-install --packages-up-to dvr_launch --mixin compile-commands
```
5. Run the demo. `number_vehicles` controls the number of vehicles generated. (Default is 10)
```bash
ros2 launch dvr_launch dvr.launch.py number_vehicles:=10
```
6. Try more examples by modifying the parameters in `dvr_launch/config`!
## References
- F. Bullo, E. Frazzoli, M. Pavone, K. Savla and S. L. Smith, "[Dynamic Vehicle Routing for Robotic Systems](https://ieeexplore.ieee.org/abstract/document/5954127?casa_token=sAaSTkWYbO8AAAAA:eE9HJHY242a0InCpEhtyF0-iPnP2DSIq73AVHbDkbQVy-yuM4i_RGsC-RiwneH00c-z6EfxoNdU)," in Proceedings of the IEEE, vol. 99, no. 9, pp. 1482-1504, Sept. 2011, doi: 10.1109/JPROC.2011.2158181.
- M. Pavone, A. Arsie, E. Frazzoli and F. Bullo, "Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks," in IEEE Transactions on Automatic Control, vol. 56, no. 8, pp. 1834-1848, Aug. 2011, doi: 10.1109/TAC.2011.2112410.
- Vardi, Yehuda, and Cun-Hui Zhang. "The multivariate L1-median and associated data depth." Proceedings of the National Academy of Sciences 97.4 (2000): 1423-1426.
## Acknowledgements
- CI set up is borrowed from [autoware.universe](https://github.com/autowarefoundation/autoware.universe) and [autoware-github-actions](https://github.com/autowarefoundation/autoware-github-actions).