Logistics Robots

ROS 2 implementation of a logistics network of robots for testing multiple multi-agent pathfinding (MAPF) algorithms in simulated and real environments.

The system objective is to handle multiple robot that have to accomplish a sequence of goals. In this case, multiple robots will act as postmen in order to deliver some packages from the user's office to another.

This system leverages on maof to resolve the MAPF problem.

Installation

To run the system a machine with Ubuntu 22.04 is required. Otherwise is possible to run the system in a virtual machine or in docker (see here).

$ git clone --recursive https://github.com/lorenzinigiovanni/logistics-robots.git

ROS 2 Humble

Installations steps:

$ sudo apt install software-properties-common
$ sudo add-apt-repository universe
$ sudo apt update && sudo apt install curl
$ sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
$ echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
$ sudo apt update
$ sudo apt upgrade
$ sudo apt install ros-humble-desktop-full
$ sudo apt install ros-humble-gazebo-*
$ sudo apt install python3-colcon-common-extensions

Install necessary packages:

$ sudo apt install ros-humble-navigation2 ros-humble-nav2-bringup
$ sudo apt install ros-humble-turtlebot3*

Automatically source ROS 2 in your bashrc:

$ echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
$ echo "export ROS_DOMAIN_ID=30 #TURTLEBOT3" >> ~/.bashrc
$ echo "export TURTLEBOT3_MODEL=burger" >> ~/.bashrc
$ source ~/.bashrc

Compile the project:

$ cd logistics-robots/ros2_ws
$ colcon build

ros2bridge

Install python packages:

$ sudo apt install python3-pip
$ sudo apt install python3-venv
$ cd logistics-robots/ros2bridge
$ python3 -m venv venv
$ source venv/bin/activate
$ pip install numpy
$ pip install .

PostgreSQL database

Install PostgreSQL database:

$ sudo apt update
$ sudo apt install postgresql postgresql-contrib
$ sudo systemctl start postgresql.service

Configure PostgreSQL database:

$ sudo -i -u postgres

Create a new user called logistics_robots:

postgres@server:~$ createuser --interactive

Create a new database called logistics_robots:

postgres@server:~$ createdb logistics_robots

Set a password and create extension:

postgres@server:~$ psql

postgres=# ALTER USER logistics_robots WITH PASSWORD 'DbPassword';
postgres=# \connect logistics_robots 
postgres=# CREATE EXTENSION IF NOT EXISTS "uuid-ossp";

MAOF

Install gcc and cmake:

$ sudo apt install build-essential
$ sudo apt install cmake

Compile maof:

$ cd logistics-robots/API/src/maof
$ mkdir build
$ cmake -DCMAKE_BUILD_TYPE=Release -B build -S .
$ cmake --build build -- -j

Node.js

Install Node.js:

$ curl -sL https://deb.nodesource.com/setup_18.x -o nodesource_setup.sh
$ sudo bash nodesource_setup.sh
$ sudo apt install nodejs

Backend

Install python packages:

$ sudo apt install python3-pip
$ sudo apt install python3-venv
$ cd logistics-robots/API/src/scripts
$ python3 -m venv venv
$ source venv/bin/activate
$ pip install -r requirements.txt

Create a .env file in the logistics-robots/API folder with the following content (to be personalized):

DB_HOST=localhost
DB_USER=logistics_robots
DB_PASS=DbPassword
DB_NAME=logistics_robots
NODE_ENV=development
TOKEN_SECRET=secret
MAIL_ADDRESS=mail@example.com
MAIL_PASSWORD=MailPassword
MAIL_SERVER=mail.example.com
ROS_URL=ws://localhost:9020

Compile the backend:

$ cd logistics-robots/API
$ npm install
$ npm run build

Frontend

Compile the frontend:

$ cd logistics-robots/GUI
$ npm install
$ npm run build

Usage

Start the simulator:

$ cd logistics-robots/ros2_ws
$ source install/setup.bash
$ ros2 launch turtlebot3_nav multi_tb3_simulation_launch.py

Start ros2bridge:

$ cd logistics-robots/ros2bridge
$ source venv/bin/activate
$ python3 -m ros2bridge -n

Start the backend:

$ cd logistics-robots/API
$ npm run start

Start the frontend:

$ cd logistics-robots/GUI
$ npm run debug

Installation using docker

The system is composed of 4 different docker containers that allow to run it with ease.

Clone the project:

$ git clone --recursive https://github.com/lorenzinigiovanni/logistics-robots.git

Usage using docker

$ docker-compose up

People

This project is developed by:

• Giovanni Lorenzini @lorenzinigiovanni
• Diego Planchenstainer @diegoplanchenstainer

License

GPL-3