merge: main -> main

.cargo/config.toml

@@ -5,6 +5,7 @@ rustflags = [
   "-Clink-arg=-fuse-ld=mold", # Use mold Linker
   "-Zshare-generics=y",       # (Nightly) Make the current crate share its generic instantiations
   "-Zthreads=8",              # (Nightly) Use improved multithreading with the recommended amount of threads.
+  "-Ctarget-cpu=native",
   # "-Ctarget-feature=+simd128",
 ]
 

.gitignore

@@ -24,3 +24,7 @@ flamegraphs/*
 
 *.json
 !results/*.json
+
+*.html
+
+experiments/

Makefile.toml

@@ -0,0 +1,21 @@
+[tasks.wasm]
+script = [
+  "echo hello",
+]
+
+[tasks.docs]
+description = "Generate rust documentation."
+command = "cargo"
+args = [
+  "doc",
+  "--no-deps",
+]
+
+[tasks.format]
+description   = "Runs the cargo rustfmt plugin."
+install_crate = "rustfmt"
+command       = "cargo"
+# args = ["fmt", "--", "--write-mode=overwrite"]
+args = [
+  "fmt",
+]

README.md

@@ -2,11 +2,53 @@
 https://github.com/aalpatya/gbpplanner reimplemented in Rust!
 
 
-FrameCountPlugin
+## External Dependencies
 
-EntityCountDiagnosticsPlugin
-SystemInformationDiagnosticsPlugin
-GizmoPlugin
-ScreenShotPlugin
+Most dependencies used are available through the `crates.io` registry. And should work on all major platforms supported by the `cargo` build tool. Still some external dependencies are needed for the graphical session.
 
-Create a function to output a graphviz representation of the factor graph similar to how "visual introduction gbp" shows their factor graphs
+| Dependencies | Platform Specific |
+|--------------|----------|
+| `udev` | Linux |
+| `alsa-lib` | Linux |
+| `vulkan-loader` |  |
+| `xorg.libX11` | Linux + X11 |
+| `xorg.libXcursor` | Linux + X11 |
+| `xorg.libXi` | Linux + X11 |
+| `xorg.libXrandr` | Linux + X11 |
+| `libxkbcommon` | Linux + X11 |
+| `wayland` | Linux + Wayland |
+| `egl-wayland` | Linux + Wayland |
+| `freetype` | |
+| `fontconfig` |  |
+
+The exact name of the dependency might vary between platforms, and even between Linux distributions. Consult the respective package management tool used on your system for their exact names.
+
+
+### Nix/NixOS
+
+The `./flake.nix` file provides a development shell with all the necessary dependencies to run the project. If you have `direnv` installed you can simply use the provided `.envrc` and type `direnv allow` to automatically enter it. Otherwise you can run:
+
+```sh
+# To enter the development environment
+nix develop
+```
+
+## Build
+
+The entire project can be build with the following command:
+
+```
+cargo build --release
+```
+
+## Run
+
+
+```sh
+cargo run --release --bin gbpplanner-rs # Open the simulator
+cargo run --release --bin gbpplanner-rs -- --list # List all available scenarios
+
+# Run a specific scenario
+cargo run --release --bin gbpplanner-rs -- -i <SCENARIO_NAME>
+cargo run --release --bin gbpplanner-rs -- --initial-scenario <SCENARIO_NAME>
+```

config/simulations/Circle Experiment/config.toml

@@ -5,7 +5,7 @@ formation_group   = "./config/simulations/ClearCircle/formation.ron"
 
 [interaction]
 ui-focus-cancels-inputs = true
-default-cam-distance    = 100.0
+default-cam-distance    = 150.0
 
 [visualisation.uncertainty]
 max-radius = 2.5
@@ -17,11 +17,11 @@ height-map = 1.0
 
 [visualisation.draw]
 robots                             = true
-communication-graph                = true
-predicted-trajectories             = true
+communication-graph                = false
+predicted-trajectories             = false
 waypoints                          = false
 uncertainty                        = false
-paths                              = true
+paths                              = false
 generated-map                      = true
 height-map                         = false
 sdf                                = false
@@ -33,7 +33,7 @@ interrobot-factors-safety-distance = false
 robot-colliders                    = false
 environment-colliders              = false
 robot-robot-collisions             = true
-robot-environment-collisions       = true
+robot-environment-collisions       = false
 
 [gbp]
 sigma-pose-fixed        = 1e-15
@@ -50,7 +50,9 @@ schedule = "interleave-evenly"
 
 [robot]
 # planning-horizon = 13.33 # 2r / initial speed
-planning-horizon = 3.0
+# planning-horizon = 12.4 # 2r / initial speed
+planning-horizon = 5
+# planning-horizon = 10
 # planning-horizon                       = 6.677 # 2r / initial speed
 max-speed                              = 15.0
 inter-robot-safety-distance-multiplier = 2.2
@@ -70,9 +72,10 @@ time-scale         = 1.0
 manual-step-factor = 1
 hz                 = 10.0
 # world-size                                = 100.0
-prng-seed                                 = 0
+prng-seed = 805
 pause-on-spawn                            = false
-despawn-robot-when-final-waypoint-reached = false
+despawn-robot-when-final-waypoint-reached = true
+exit-application-on-scenario-finished     = true
 
 [rrt]
 max-iterations       = 1000000

config/simulations/Circle Experiment/formation.yaml

@@ -7,7 +7,7 @@ formations:
   delay:
     secs: 1
     nanos: 0
-  robots: 50
+  robots: 30
   planning-strategy: only-local
   initial-position:
     shape: !circle
@@ -25,4 +25,5 @@ formations:
     projection-strategy: cross
   # waypoint-reached-when-intersects: horizon
   waypoint-reached-when-intersects: current
+  finished-when-intersects: current
   # waypoint-reached-when-intersects: !variable 5

config/simulations/Communications Failure Experiment/config.toml

@@ -18,10 +18,10 @@ height-map = 1.0
 [visualisation.draw]
 robots                             = true
 communication-graph                = false
-predicted-trajectories             = true
+predicted-trajectories             = false
 waypoints                          = false
 uncertainty                        = false
-paths                              = true
+paths                              = false
 generated-map                      = true
 sdf                                = true
 communication-radius               = false
@@ -30,9 +30,9 @@ tracking                           = false
 interrobot-factors                 = false
 interrobot-factors-safety-distance = false
 robot-colliders                    = false
-environment-colliders              = true
-robot-robot-collisions             = true
-robot-environment-collisions       = true
+environment-colliders              = false
+robot-robot-collisions             = false
+robot-environment-collisions       = false
 
 [gbp]
 # sigma-pose-fixed        = 0.000000000000001
@@ -50,17 +50,17 @@ external = 10
 schedule = "interleave-evenly"
 
 [robot]
-planning-horizon                       = 5.0
+planning-horizon                       = 10.0
 max-speed                              = 10.0
 inter-robot-safety-distance-multiplier = 2.2
 
 [robot.radius]
-min = 2.0
-max = 3.0
+min = 2.5
+max = 2.5
 
 [robot.communication]
 radius       = 50.0
-failure-rate = 0.0
+failure-rate = 0.2
 
 [simulation]
 # t0                                        = 0.1
@@ -71,7 +71,8 @@ hz                 = 10.0
 # world-size                                = 100.0
 prng-seed                                 = 0
 pause-on-spawn                            = false
-despawn-robot-when-final-waypoint-reached = false
+despawn-robot-when-final-waypoint-reached = true
+exit-application-on-scenario-finished     = true
 
 [rrt]
 max-iterations       = 1000000

config/simulations/Communications Failure Experiment/environment.yaml

@@ -2,13 +2,14 @@ tiles:
   grid:
   - █
   settings:
-    tile-size: 100.0
+    tile-size: 200.0
     path-width: 0.1
     obstacle-height: 1.0
     sdf:
-      resolution: 200
-      expansion: 0.001
-      blur: 0.001
+      resolution: 500
+      expansion: 0.01
+      blur: 0.005
+
 obstacles:
 - shape: !regular-polygon
     sides: 4
@@ -41,8 +42,8 @@ obstacles:
     row: 0
     col: 0
 - shape: !rectangle
-    width: 0.0875
-    height: 0.035
+    width: 0.035
+    height: 0.0875
   translation:
     x: 0.589
     y: 0.3965
@@ -52,9 +53,9 @@ obstacles:
     col: 0
 - shape: !triangle
     angles:
-      A: 0.5235987755982988
-      B: 0.5235987755982988
-    radius: 0.05
+      A: 1.22
+      B: 1.22
+    radius: 0.025
   rotation: 0.0
   translation:
     x: 0.5575
@@ -64,10 +65,10 @@ obstacles:
     col: 0
 - shape: !triangle
     angles:
-      A: 1.9198621771937625
-      B: 0.6981317007977318
-    radius: 0.03
-  rotation: 5.225
+      A: 0.6981317007977318
+      B: 1.9198621771937625
+    radius: 0.01
+  rotation: 5.2
   translation:
     x: 0.38
     y: 0.432

config/simulations/Communications Failure Experiment/formation.yaml

@@ -25,4 +25,5 @@ formations:
     projection-strategy: cross
   # waypoint-reached-when-intersects: horizon
   waypoint-reached-when-intersects: current
+  finished-when-intersects: current
   # waypoint-reached-when-intersects: !variable 5

config/simulations/Complex/config.toml

@@ -54,6 +54,10 @@ internal = 10
 external = 10
 schedule = "interleave-evenly"
 
+[gbp.tracking]
+attraction-distance = 1.0
+switch-padding      = 5.0
+
 [robot]
 planning-horizon                       = 5.0
 max-speed                              = 7.0

config/simulations/Environment Obstacles Experiment/config.toml

@@ -5,7 +5,7 @@ formation_group   = "./config/simulations/Circle/formation.ron"
 
 [interaction]
 ui-focus-cancels-inputs = true
-default-cam-distance    = 100.0
+default-cam-distance    = 250.0
 
 [visualisation.uncertainty]
 max-radius = 2.5
@@ -43,15 +43,15 @@ sigma-factor-interrobot = 0.005
 sigma-factor-obstacle   = 0.005
 sigma-factor-tracking   = 0.1
 # iterations-per-timestep = 10
-lookahead-multiple = 3
+lookahead-multiple = 1
 
 [gbp.iteration-schedule]
 internal = 50
 external = 10
 schedule = "interleave-evenly"
 
 [robot]
-planning-horizon                       = 5.0
+planning-horizon                       = 13.33
 max-speed                              = 15.0
 inter-robot-safety-distance-multiplier = 2.2
 
@@ -91,13 +91,15 @@ export-location = "./assets/export/"
 
 [graphviz.interrobot.active]
 style = "dashed"
-len   = 8.0
-color = "red"
+len   = 5.0
+# color = "green"
+color = "#40a02b"
 
 [graphviz.interrobot.inactive]
 style = "dashed"
-len   = 8.0
-color = "gray"
+len   = 5.0
+color = "#d20f39"
+# color = "red"
 
 
 [manual]