suave_rosa

Applying ROSA to the SUAVE exemplar

Tested with ubuntu 22.04 and ROS Humble

Install

Check the SUAVE repo for additional installation instructions to install SUAVE.

Create workspace and clone repo:

mkdir -p ~/suave_rosa_ws/src
cd ~/suave_rosa_ws/src
git clone [email protected]:kas-lab/suave_rosa.git

Get dependencies:

source /opt/ros/humble/setup.bash
vcs import src < suave_rosa.rosinstall --recursive
rosdep install --from-paths src --ignore-src -r -y

Build:

colcon build --symlink-install

Running

Run ardusub SITL:

sim_vehicle.py -L RATBeach -v ArduSub  --model=JSON --console

Run SUAVE simulation:

source ~/suave_rosa_ws/install/setup.bash
ros2 launch suave simulation.launch.py x:=-17.0 y:=2.0

Run ROSA for the original SUAVE use case:

source ~/suave_rosa_ws/install/setup.bash
ros2 launch suave_rosa suave_rosa.launch.py mission_type:=time_constrained_mission result_filename:=suave_rosa_result

Run ROSA for the extended SUAVE use case:

source ~/suave_rosa_ws/install/setup.bash
ros2 launch suave_rosa suave_rosa_extended.launch.py mission_type:=time_constrained_mission result_filename:=suave_rosa_result

Docker

The SUAVE docker image was extended to include ROSA. You can find additional information about the original SUAVE image in the SUAVE repo.

Run with docker:

docker run -it --shm-size=512m -v $HOME/suave_rosa_results:/home/kasm-user/suave/results -p 6901:6901 -e VNC_PW=password --security-opt seccomp=unconfined ghcr.io/kas-lab/suave_rosa:main

You can run SUAVE + ROSA with the instructions in the running section

Or you can use a runner to execute the experiments multiple times (check SUAVE repo for more info):

./rosa_runner.sh true rosa time 20

build:

docker build -t suave_rosa -f docker/Dockerfile .