prmsvion / hmrssim

Simulator for research in Heterogeneous Multi-Robots Environment. The intention is to provide extensible, lightweight, portable, low fidelity, visualizable simulations for testing task allocation approaches in a heterogeneous, multi-robot environment. The priority is to provide the researcher with the capability to easily implement new maps by importing 2D draws from draw.io.

Heterogeneous Multi-Robots Systems Simulator

Env Depencies

python 3, pip

Install pipenv

pipenv easy the process of managing python dependencies

PIP

$ pip install pyenv

Alternatively, macOS brew

$ brew install pipenv 

Install dependencies

Inside the project folder (after clone)

$ pyenv install 3.8.0
$ pip install pipenv
$ pipenv install
$ pipenv shell
(hmrssim env) % pipenv install --dev

Run

⚠ You need to include the simulator/ folder in your PYTHONPATH.

Simulations are defined in by config objects. You can pass the config to the Simulator class either by a dict object, or by passing the path to a json file.

simulator = Simulator(config)

The file that build a simulation and runs it is run.py To execute the simulation, run

$ python run.py [path/to/config.json]

Dependency

Add New Dependency

To add new dependencies use the following command.

$ pipenv install [name]

This command will add the dependency to the Pipfile and Pipfile.lock assuring that the execution can be reproduced in another environment (after dependencies are updated with pipenv install command )

Add New Dev Dependency

Same as previous dependencies, but for development libraries such as the ones used for test.

$ pipenv install [name] --dev

Note that other systems after pulling updates will need a reexecution of pipenv install --dev