This repository contains the source code for coursework paper: Efficient Social Attention for Autonomous Decision-Making in Varing Traffic Scenarios. Thr experiment environment is forked from: HighwayEnv and rl-agents. We modify the code to diploy our proposed method.

He Liang,   Jianheng Liu,   Yunfan Shi

├── cw1_team_7
│   ├── include
│   │   ├── cw3_class.h -> heading file
│   ├── launch
│   │   ├── run_solution.launch -> launch file
│   ├── src
│   │   ├── cw3_class.cpp -> methods for three tasks
│   │   ├── cw3_node.cpp -> main function
│   ├── srv
│   │   ├── example.srv -> define request and return messages
│   ├── CMakeLists.txt
│   ├── package.xml

Build

cd comp0129_s24_labs
catkin build
source devel/setup.bash

Run
In the same Terminal

roslaunch cw3_team_7 run_solution.launch

Open another Terminal

cd comp0129_s24_labs
source devel/setup.bash
rosservice call /task <task_id>

Note: If you try to run task 3 after running task 1 and 2 consecutively, the code may get stuck somewhere with an issue

[pcl::OrganizedNeighbor::estimateProjectionMatrix] Input dataset is not organized!

If that happens, simply press 'Ctrl C' and relaunch it

roslaunch cw3_team_7 run_solution.launch

Then open another Terminal

cd comp0129_s24_labs
source devel/setup.bash
rosservice call /task 3

Then the issue should be fixed.

Task 1

Task 2

Task 3

Code: MIT License