https://github.com/smartlab-purdue/attack_detection-sim

This repository contains the Matlab source codes of attack detection algorithm for multi-agent / multi-robot systems. The ROS Gazebo simulation using CAT Vehicle Testbed was modified to demonstrate the attack detection scenario on CAT vehicles at urban environments.
https://github.com/smartlab-purdue/attack_detection-sim

Last synced: 5 months ago
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This repository contains the Matlab source codes of attack detection algorithm for multi-agent / multi-robot systems. The ROS Gazebo simulation using CAT Vehicle Testbed was modified to demonstrate the attack detection scenario on CAT vehicles at urban environments.

• Host: GitHub
• URL: https://github.com/smartlab-purdue/attack_detection-sim
• Owner: SMARTlab-Purdue
• Created: 2017-11-17T16:29:09.000Z (over 8 years ago)
• Default Branch: master
• Last Pushed: 2017-11-22T01:28:30.000Z (over 8 years ago)
• Last Synced: 2025-05-31T13:09:15.577Z (about 1 year ago)
• Homepage:
• Size: 44.9 KB
• Stars: 4
• Watchers: 0
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# Attack_Detection-Sim

This repository contains the Matlab source code of attack detection algorithm for multi-agent / multi-robot system. 

The ROS Gazebo simulation using CAT Vehicle Testbed are modified to demonstrate attack detection senario on CAT vehicles at urban environments.

# Copyrights

All Copyright of Catvehicle Testbed reserves to Jonathan Sprinkle, Sam Taylor, Alex Warren from Arizona Board of Regents 

# Installation instructions

1. Go to https://cps-vo.org/node/26602 

2. Install ROS Indigo following the ROS Wiki Page http://wiki.ros.org/indigo/Installation/Ubuntu

3. Install the additional following additional packages:

    a) Controller manager

    

          sudo apt-get install ros-indigo-controller-manager

          sudo apt-get install ros-indigo-ros-control ros-indigo-ros-controllers

          sudo apt-get install ros-indigo-gazebo-ros-control

          

    b) Velodyne

    

          sudo apt-get install ros-indigo-velodyne

          

    c) SICK Laser

    

          sudo apt-get install ros-indigo-sicktoolbox ros-indigo-sicktoolbox-wrapper

          

    d) Joystick control

    

          sudo apt-get install ros-indigo-joystick-drivers

          

    e) Localization packages

    

          sudo apt-get install ros-indigo-hector-slam ros-indigo-hector-mapping

          

4. Create Workspace:

          cd ~

          mkdir -p catvehicle_ws/src          

          cd catvehicle_ws/src     

          catkin_init_workspace

5. Download the packages

          cd ~/catvehicle_ws/src          

          git clone https://github.com/sprinkjm/catvehicle.git          

          git clone https://github.com/sprinkjm/obstaclestopper.git          

          cd ../          

          catkin_make

A video demonstration for installation is also provided at http://cps-vo.org/node/26625 

# Package Explanation:

The catvehicle is a ROS Gazebo model of full sized Ford Escape which is operated through ROS messages. Simulation can be visualized using ROS Gazebo and RVIZ. Simulation Configurations can be modified and created based on demands of users. Tutorials on how to move the vehicle, examine simulation data, modify simulation configuration, and work with Simulink can be found from https://cps-vo.org/node/31792 

# Explanation of modification:

Few files were modified or created to demonstrate the Attack Detection simulation in urban environment 

1. A new map named Real_world_sim.world is made to create the urban street environment for simuation. 

2. catvehicle_multi.launch file is modified to load the world file Real_world_sim.world and multiple (currently set as 3) catvehicle model. 

3. URDF has been modified to set the desired orientation of catvehicle model in the map and to turn off the camera sensor displayed during simulation.

          

# Usage instructions

1. Download the catvehicle_multi.launch to catvehicle_ws/src/catvehicle/launch

2. Download the catvehicle.xacro  catvehicle_left_camera.gazebo  catvehicle_right_camera.gazebo to catvehicle_ws/src/catvehicle/urdf

3. Download the Real_world_sim.world to catvehicle_ws/src/catvehicle/worlds

4. source the workspace using following command

            source catvehicle_ws/devel/setup.bash

5. launch the simulation environment for multi-vehicle attact detection simulation using following command

            roslaunch catvehicle catvehicle_multi.launch

6. Open Matlab and execute the file (matlab_file_name). If Matlab and ROS are operated at seperate devices, you must connect Matlab and ROS first. Instruction on connecting Matlab to ROS can be found at https://www.mathworks.com/help/robotics/examples/connect-to-a-ros-network.html

# Video demonstration

For more information on the Possible Attacks on agents and Attack Detection Algorithm, please visit this video demonstration in YouTube: https://www.youtube.com/watch?v=DRz6gyhPalM&feature=youtu.be.

# Contact

For any queries, issues, and questions with Matlab Codes, please contact Sangjun Lee (lee1424 at purdue dot edu).

For any queries, issues, and questions with modified ROS code, please contact Yongbum Cho (cho148 at purdue dot edu).

# Authors

Sangjun Lee (lee1424 at purdue dot edu)

Yongbum Cho (cho148 at purdue dot edu)

Byung-Cheol Min (minb at purdue dot edu): http://web.ics.purdue.edu/~minb/

SMART Lab - Purdue University: http://www.smart-laboratory.org/