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Robotarium Python Simulator

A Python simulator and API for usage of the Robotarium — a remotely accessible multi-robot testbed at Georgia Institute of Technology. This is an open-source re-implementation of the MATLAB simulator.

Introduction

This is a Python simulator for Robotarium! The Robotarium is a project at Georgia Institute of Technology allowing public, remote access to a state-of-the-art multi-robot testbed.

Requirements

  • Python 3.10+
  • NumPy
  • Matplotlib
  • CVXOPT

Installation

The simulator can run on all major platforms (Windows, Linux, and macOS). All that is required is cloning the repository and installing some necessary dependencies.

git clone https://github.com/robotarium/robotarium_python_simulator
cd robotarium_python_simulator
pip install .

Or install dependencies manually then install the package:

pip install numpy matplotlib cvxopt
pip install .

Note the dot after install

Dependency Installation

The guide below will show you how to install the necessary dependencies. The simulator has been thoroughly tested on Python 3.10.x+ versions.

Submission Dependencies

The current list of libraries supported by the robotarium is contained in libraries.txt. If you cannot find a library that is required for your submission, please submit a pull request adding your package to the libraries.txt file so the team can evaluate its addition into the robotarium.

Usage

To run one of the examples:

python "path_to_simulator"/rps/examples/plotting/barriers_with_plotting.py

Package Structure

rps/
├── robotarium.py              # Main simulator class
├── robotarium_abc.py          # Abstract base class
├── utilities/
│   ├── barrier_certificates.py  # SI and unicycle barrier certificates
│   ├── controllers.py           # SI and unicycle position/pose controllers
│   ├── transformations.py       # SI <-> unicycle mappings
│   ├── graph.py                 # Graph Laplacian utilities
│   ├── misc.py                  # Pose generation and convergence checkers
│   └── sensors.py               # Distance sensor simulation
├── patch_creation/
│   └── gternal_patch.py         # GTernal robot visualization
└── examples/
    ├── si_barriers.py
    ├── uni_barriers.py
    ├── sensor_readings.py
    ├── dead_reckoning.py
    ├── plotting/
    │   ├── barriers_with_plotting.py
    │   ├── go_to_pose_with_plotting.py
    │   └── leader_follower_with_plotting.py

Issues

Please enter a ticket in the issue tracker.