metacontrol_experiments

This package runs and controls batch simulations of the metacontrol_sim package, it can create contingencies that should result in reconfigurations of the navigation stack.

Installation

Install java jre

The experiments use the mros_reasoner for the reconfiguration, and to run this a java jre is required.

You can use this command To install the Java Vitual Machine.

sudo apt-get install openjdk-11-jre

Create metacontrol_ws

We recommend you to create a workspace only for metacontrol_ws, for example:

  mkdir -p ~/metacontrol_ws/src
  cd metacontrol_ws

Setup all dependencies using wstool

Note This step will include all the necessary packages, including those listed in the metacontrol_sim package. Please make sure you're not duplicating them.

In the following instructions, we assume that the ROS workspace is called metacontrol_ws, but you can give it any name you want.

cd ~/metacontrol_ws
wstool init src https://raw.githubusercontent.com/rosin-project/metacontrol_experiments/master/metacontrol_experiments.rosinstall
rosdep install --from-paths ./src -y -i -r --skip-keys="abb_rws_interface"

Check that all dependencies are installed correctly, please make an issue if you find any errors.

Build the code

The code can be built using the standard catkin build process.

cd ~/metacontrol_ws
source /opt/ros/melodic/setup.bash
catkin build

Run the scripts

There are several scripts, to run a single simulation or to run simulations on a batch.

run_single_sim.sh : Main script, runs a full simulation on a single terminal, the parameter are listed below.
run_single_sim_desktop.sh : Runs a full simulation, but launches three different terminals. Accepts the same parameters as run_single_sim.sh Runs a single simulation on a single terminal. Note: gnome-terminal needs to be installed for this script to run.
run_batch_sim.sh and run_combined_test.sh: Both are used to run a batch of simulations, they use the run_single_sim script whit different configurations at every time.

Parameters for a single simulation run

The run_single_sim.sh and run_single_sim_desktop.sh scripts accept the following parameters:

-i <init_position: (1 / 2 / 3)>
-g <goal_position: (1 / 2 / 3)>
-n <nav_profile: ("fast" / "standard" / "safe" or fX_vX_rX)>
-r <run mros reconfiguration: ("true" / "false")>
-o <add obstacles: (0 / 1 / 2 / 3)>
-p <increase_power: ([0 -  2.0])>
-b <record rosbags: ("true" / "false")>
-e <nfr energy threshold : ([0 - 1])>
-s <nfr safety threshold : ([0 - 1])>
-l <.csv log frequency : [0 - 10])  - 0 Means no .csv logs will be recorded>
-c <close reasoner terminal after execution : ('true' / 'false')>"

If no parameters are given the first value is used by default

Example of single run

This launch should result in one or two reconfigurations

source ~/metacontrol_ws/devel/setup.bash
roscd metacontrol_experiments
./run_single_sim_desktop.sh -i 1 -g 1 -n "f1_v2_r2" -o 2 -r "true" -p 1.7 -c "false"

Expected outcome

The script opens three additional terminals and one rviz window

roscore
Gazebo simulation with MVP metacontrol world.launch
mros reasoner

The output of the main console (where the script is executed) should be like this

$ ./run_single_sim.sh -i 1 -g 1 -n "f1_v2_r2" -o 2 -r "true" -p 1.7 -c "false"
Make sure there is no other gazebo instances or ROS nodes running:
kill -2 6644
kill -2 6884
kill -2 7017

Start a new simulation - Goal position: 1 - Initial position  1 - Navigation profile: f1_v2_r2

Launch roscore
Launching: MVP metacontrol world.launch
Launching: mros reasoner
Running log and stop simulation node
... logging to /home/mario/.ros/log/23173622-d894-11ea-a643-3448ed792014/roslaunch-mario-laptop-7964.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mario-laptop:45471/

SUMMARY
========

PARAMETERS
 * /create_unknown_obstacles_node/goal_nr: 1
 * /create_unknown_obstacles_node/obstacles: 2
 * /rosdistro: melodic
 * /rosversion: 1.14.6
 * /stop_simulation_node/data_log_folder: /home/mario/ros/m...
 * /stop_simulation_node/increase_power_factor: 1.7
 * /stop_simulation_node/store_data_freq: 2.0

NODES
  /
    create_unknown_obstacles_node (metacontrol_experiments/create_unknown_obstacles.py)
    stop_simulation_node (metacontrol_experiments/stop_simulation_node)

ROS_MASTER_URI=http://localhost:11311

process[stop_simulation_node-1]: started with pid [8035]
process[create_unknown_obstacles_node-2]: started with pid [8038]
[ INFO] [1596794138.256581525]: [STOP SIM] - Start node
[ INFO] [1596794138.272768379]: [STOP SIM] Will increase power consumption by 1.70 after 0.6 of the path is completed
[ INFO] [1596794138.284240283]: [STOP SIM] Logging to /home/mario/ros/metacontrol_ws/src/metacontrol_experiments/data/log_Metacontrol_sim_07-11_55_38.csv
[ INFO] [1596794138.284347624]: [STOP SIM] Node Initialization Completed
[ INFO] [1596794138.284372739]: Initialized an async multi-thread node.
[ INFO] [1596794138.284544551]: [STOP SIM] - Wait for goal msg
[ INFO] [1596794143.261260103]: [LogData :: goal_callback] - Goal Pos x -8.500000 - y 7.000000
[ INFO] [1596794143.284665200]: [STOP SIM] - Initial goal distance: 19.10
[ INFO] [1596794143.284697029]: [STOP SIM] - Wait for robot to reach the goal
[INFO] [1596794144.564601]: Adding obstacles: 2
[INFO] [1596794144.598565]: Adding obstacles.
[INFO] [1596794144.647856]: SpawnModel: Successfully spawned entity
[INFO] [1596794144.870407]: SpawnModel: Successfully spawned entity
[create_unknown_obstacles_node-2] process has finished cleanly
log file: /home/mario/.ros/log/23173622-d894-11ea-a643-3448ed792014/create_unknown_obstacles_node-2*.log
[ INFO] [1596794178.584661119]: [STOP SIM] - 2 / 3 of the route completed
[ INFO] [1596794178.585825909]: Power consumption increased  
[ INFO] [1596794203.200138944]: [LogData :: reconfig_callback] - New configuration requested f1_v2_r1
[ INFO] [1596794207.149323292]: [LogData :: goal_callback] - Goal Pos x -8.500000 - y 7.000000
[ INFO] [1596794210.412765830]: [LogData :: reconfig_callback] - New configuration requested f1_v1_r1
[ INFO] [1596794214.475655073]: [LogData :: goal_callback] - Goal Pos x -8.500000 - y 7.000000
[ INFO] [1596794218.887366611]: [STOP SIM :: stop_simulation] Killing nodes
killing /fake_localization
killed
================================================================================REQUIRED process [stop_simulation_node-1] has died!
process has finished cleanly
log file: /home/mario/.ros/log/23173622-d894-11ea-a643-3448ed792014/stop_simulation_node-1*.log
Initiating shutdown!
================================================================================
[stop_simulation_node-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
exit
Simulation Finished!!
kill -2 6644
kill -2 6884

Notes

At the beggining of the script, all previous gazebo and ROS nodes are killed, if there is a gazebo process running or lagging, this may take some time and a message -- gzserver still running may appear.
The ===REQUIRED process [stop_simulation_node-1] has died! part, appears red, but it's not an error, is due to the process being terminated at the end of the simulation.
RViz and the three terminals should close at the end of the simulation. However, if the -c "false" option is given, the mros_reasoner terminal will wait for an external input before closing.

Run simulations in batch

Edit the for loops inside ./run_batch_sim.sh to define set of parameters and whether or not to run reconfiguration

Run the script

./run_batch_sim.sh

Getting logs

Two type of logs are available

csv files

The stop_simulation_node subscribes to the topics containing the relevant info for the logs, it extracts the corresponding info (i.e. corresponding key value from the diagnostics topic for the QA) and stores them in a .csv at a given frequency as

The default storage folder is "$(find metacontrol_experiments)/data/"
The storage folder can be modified in the launch/stop_simulation.launch file
Store frequency can be modified in the launch/stop_simulation.launch file ( 0 means no recording)

rosbags

.bag files can be stored if the parameter -b true is given to the run_single_sim.sh scripts
The default storage folder is "$(find metacontrol_experiments)/bags/"
The storage folder can be modified in the launch/stop_simulation.launch file

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