REMARO_Scenarios

This repository belongs to different scenarios extracted from REMARO worlds

ScreenShots

General and typical path to inspect different subsea infrustructures

The safer path (alternative solution) exists to inspect the last vertical tank

We also use population of small vertical tank to make scenario more realistic; position of this object is based on random distribution. We populated 10 times for each run.

Installation

• Install Ubuntu 20 LTS.

• Install ROS Noetic. Choose the "Desktop-Full Install" option so simulators are installed.

• Once you have installed ros packages, the uuv_simulator can be installed by cloning the modified version of Field-Robotics-Lab_uuv_simulator repository here in your ros workspace.

# Make directory for your workspace
mkdir -p ~/yourworkspacename/src

# Change directory to your workspace
cd ~/yourworkspacename/src

# Clone this package 
git clone https://github.com/remaro-network/remaro_scenarios.git

Clone BlueRov2 package 

git clone https://github.com/mahyamkashani/bluerov2

# Clone REMARO_AUV package
git clone https://github.com/jpcoffelt/remaro_auv

# Move to root of your workspace directory
cd ~/yourworkspacename

# Make the workspace 
catkin_make

# Source your workspace in each terminal using this package.
source ~/yourworkspacename/devel/setup.bash

# If this is your only active ROS workspace,
# modify ~./bashrc to automatically source this workspace.
echo "source ~/yourworkspacename/devel/setup.bash" >> ~/.bashrc

planSimulation

You can simulate different plans, e.g. $P_1, P_2, ..., P_5$ by typing below commands:

Dangerous Scenario ($P_1$)

# To launch the simulated world
chmod +x run_dangerous_scenario.sh
./run_dangerous_scenario.sh

or

# To launch the simulated world
roslaunch remaro_scenarios launch_remaro_scenario.launch
roslaunch remaro_scenarios send_dangerous_waypoints.launch
roslaunch remaro_scenarios launch_small_vertical_tank_inspection.launch

Run out of battery Scenario ($P_2$)

# To launch the simulated world
roslaunch remaro_scenarios launch_remaro_scenario.launch
roslaunch remaro_scenarios send_battery_waypoints.launch
roslaunch remaro_scenarios send_platform_waypoints.launch
roslaunch remaro_scenarios send_dangerous_waypoints.launch
roslaunch remaro_scenarios launch_small_vertical_tank_inspection.launch

Other1 Scenario ($P_3$): long path but dangerous

# To launch the simulated world
roslaunch remaro_scenarios launch_remaro_scenario.launch
roslaunch remaro_scenarios send_battery_waypoints.launch
roslaunch remaro_scenarios send_back_init_waypoints.launch
roslaunch remaro_scenarios send_platform_waypoints.launch
roslaunch remaro_scenarios send_dangerous_waypoints.launch
roslaunch remaro_scenarios launch_small_vertical_tank_inspection.launch

Safe Scenario ($P_4$)

# To run the simulated world
chmod +x run_safe_scenario.sh
./run_safe_scenario.sh

or

# To launch the simulated world
roslaunch remaro_scenarios launch_remaro_scenario.launch
roslaunch remaro_scenarios send_safe_waypoints.launch
roslaunch remaro_scenarios launch_small_vertical_tank_inspection.launch

Other2 Scenario($P_5$): other long path but dangerous

# To launch the simulated world
roslaunch remaro_scenarios launch_remaro_scenario.launch
roslaunch remaro_scenarios send_battery_waypoints.launch
roslaunch remaro_scenarios send_back_init_waypoints.launch
roslaunch remaro_scenarios send_dangerous_waypoints.launch
roslaunch remaro_scenarios launch_small_vertical_tank_inspection.launch

Record Scenario

In case you couldn't install requirements, there exist a few rosbags and csv files for positions of robot and objects' location.

If you would like to record specific rostopics, see follows instruction

rosbag record bagfile.bag /rostopic-you-would-like

If you would like generate new waypoints, you can run below python program:

cd src
python3 gen_waypoints.py

Single/ Multiple Object Collision Detector

If you would like to know whether there exist any collisions, open 3 TABs and follow below commands.

• TAB1

roscore

• TAB2 (play rosbag)

rosbag play danger_2024-03-09-11-40-23.bag

• TAB3

roscd remaro_scenarios
cd src
python3 collision_detector.py

• or TAB3

roscd remaro_scenarios
cd src
python3 multiple_objects_collision_detector.py

Acknowledgements

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grant agreement No. 956200.

Pleave visit our website for more info on our project.