robotjsorg / icra2016-teamwpi

Team WPI's winning submission for ICRA 2016 FMRB Contest: Scaling Chains of Integrators

Team WPI Integrator Chains

A submission to the FMRBenchmark contest by California Institute of Technology http://fmrchallenge.org/ at ICRA 2016. Team WPI submits two controllers to the Scaling Chains of Integrators domain, wpi_solution_01 and wpi_solution_02

Rohit Sheth, Nishan Srishankar, Joseph McMahon, Professor Jie Fu

Please see FMRB's Github (https://github.com/fmrchallenge/fmrbenchmark) and its installation and usage documentation at (http://docs.fmrchallenge.org/en/latest/integrator_chains.html)

Instructions if FMRB is already installed

1. Extract files from team_wpi.tar.gz or team_wpi.zip
2. Move the folder team_wpi into your instance of FMRB integrators_workspace/src folder created in step 2.2.2 of the documentation. Alternatively, symlink the team_wpi folder into integrators_workspace/src created in step 2.2.2 of the documentation
3. Rebuild the ROS package using catkin_make install in the integrators_workspace folder
4. Open another terminal window in integrators_workspace and source both windows source install/setup.bash
5. Run the FMRB trial runner in one window with python $FMRBENCHMARK/domains/integrator_chains/trial-runner.py -l -f mydata.json src/sci_concrete_examples/trialconf/mc-small-out3-order3.json
6. Run roslaunch team_wpi wpi_solution_01.launch in another window. The second controller can be run by using wpi_solution_02.launch instead

2D and 3D overlay plots (as shown in screenshot)

A 2D and 3D plotting tool tdstat_2d_3d_overlay.py was created that overlays the generated paths with the goal and obstacle regions in 2D or 3D

To use it for 2D overlays, run this from your integrators_workspace folder python $TEAM_WPI/tdstat_2d_3d_overlay.py -t 0 --traj --state "0,1" mydata.json where $TEAM_WPI is the folder path to this GitHub repo on your machine

To use it for 3D overlays, run this instead python $TEAM_WPI/tdstat_2d_3d_overlay.py -t 0 --traj --state "0,1,2" mydata.json