Planning with Uncertainty

This project aims to plan a path for a duckiebot while taking into account various sources of uncertainty.

Pre-flight checklist {#demo-planningunderuncertainty-pre-flight}

duckietown-world

Those following prerequisites ensure that the simulation will run properly:

Check: Desktop-Full installation of ros-kinetic

Check: duckietown-world (And all their requirements)

Check: Ubuntu16.04 with python2.7

Demo instructions {#demo-planningunderuncertainty-run}

Here, give step by step instructions to reproduce the demo.

** ASSUMTION: YOU ARE ABLE TO IMPORT duckietown_world SUCCESFULLY **

Step 0: Make sure you sourced ros

$ source /opt/ros/kinetic/setup.bash       (Use setup.zsh If you are using zsh shell)

Step 1: Create a catkin workspace in your home directory

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src

Step 2: Clone the following repo duckietown-uplan

$ git clone https://github.com/duckietown/duckietown-uplan

Step 3: Installation of dependencies (NOTE: make sure that pip installation belongs to python2.7)

$ cd duckietown-uplan/lib-uplan
$ pip install -r requirements.txt --user       (Might require --user)
$ sudo python setup.py develop --no-deps

Step 4: Go back to catkin_ws main directory and run catkin_make

$ cd ../../..
$ catkin_make

Ensure all three packages build correctly and custom messages are built, now two more steps left:

$ source devel/setup.bash               (Or zsh)
$ roslaunch uplan_visualization planningUncertainty.launch