README FOR TASK 2

Below you can find the information on how to run each sub task:

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TASK 2.1: Aggregative Tracking in Python

• Open file task_2_1

• You can set the following parameters as you wish from the file directly:

  • NN (number of agents)
  • alpha (learning rate)
  • MAXITERS (Maximum Iterations for the update steps)
  • r_0 (Position of the Central Target)
  • MOVE_R_I (Set this Boolean to True to have moving intruders)
  • cc (Weights for a weighted average positions (sigma))
  • beta (to pursue r_0 through barycenter
  • delta (to make agents pursue the barycenter)
  • gamma (to make agents pursue the intruders)

• Now run the python file

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ROS2 WORKSPACE SET UP

• Copy the task2_ws folder in your ros2 environment
• open terminal and make sure you are in the task2_ws folder
• copy the following command to build the package: colcon build
• then, copy the following command:

. install/setup.bash

Now you are ready to run tasks 2.2 and 2.3

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TASK 2.2: Aggregative Tracking in ROS 2

• You can change the following parameters from the task2_launch.launch.py but make sure the run the commands mentioned above after making the changes.

  • NN (number of agents)
  • alpha (learning rate)
  • MAXITERS (Maximum Iterations for the update steps)
  • r_0 (Position of the Central Target)
  • cc (Weights for a weighted average positions (sigma))
  • beta (to pursue r_0 through barycenter
  • delta (to make agents pursue the barycenter)
  • gamma (to make agents pursue the intruders)

• Now, follow the steps below:

Step 1: Copy the following command in the terminal to first launch rviz2 with a set configuration:

ros2 run rviz2 rviz2 -d <Copy PATH of the config.rviz file from the task2_ws> 

An example of this is shown below: EXAMPLE:

ros2 run rviz2 rviz2 -d /home/xxx/task2_ws/task2_ws/src/task2/config/config.rviz

Step 2: Now in a separate terminal, copy the following command to launch the agents & the plotter nodes:

ros2 launch task2 task2_2_launch.launch.py

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TASK 2.3: Moving in a corridor via Projected Aggregative tracking algorithm

• You can change the following parameters from the task2_launch.launch.py but make sure the run the commands mentioned above after making the changes.

  • NN (number of agents)
  • alpha (learning rate)
  • MAXITERS (Maximum Iterations for the update steps)
  • cc (Weights for a weighted average positions (sigma))
  • beta (to pursue r_0 through barycenter
  • delta (to make agents pursue the barycenter)
  • gamma (to make agents pursue the intruders)
  • Enable_Collision_Avoidance (Set this to true to prevent collisions between agents)
  • zeta (this is the weight given to the difference between the actual and projected positions of the agents)
  • inter_agent_safe_distance (defines the safe distance to be kept among the agents)
  • corridor_safe_distance (defines the safe distance from the corridor)

• Now, follow the steps below:

Step 1: Copy the following command in the terminal to first launch rviz2 with a set configuration:

ros2 run rviz2 -d <Copy PATH of the config.rviz file from the task2_ws>

An example of this is shown below: EXAMPLE:

ros2 run rviz2 rviz2 -d /home/xxx/task2_ws/task2_ws/src/task2/config/config.rviz

Step 2: Now in a separate terminal, copy the following command to launch the agents & the plotter nodes:

ros2 launch task2 task2_3_launch.launch.py