Ros Melodic has to be installed (http://wiki.ros.org/melodic/Installation/Ubuntu).
Here is a list of all the dependencies to get with sudo apt install [package] :
sudo apt install xterm libsdl-image1.2-dev libsuitesparse-dev ros-melodic-move-base-msgs ros-melodic-pr2-msgs ros-melodic-tf2-sensor-msgs ros-melodic-mbf-msgs ros-melodic-mbf-costmap-core ros-melodic-joint-trajectory-action ros-melodic-costmap-converter ros-melodic-libg2o ros-melodic-pointcloud-to-laserscan ros-melodic-teb-local-planner
With pip you will need Scipy and Bokeh :
sudo apt install python-pip
pip install scipy
pip install bokeh
Once all the dependencies are installed, clone the workspace repository wherever you want. Then init the submodules and compile everything using catkin_make :
git clone https://github.com/AnthonyFavier/InHuS_Social_Navigation
cd InHuS_Social_Navigation/
git submodule update --init --recursive
catkin_make
The Stage simulator is in-build in the package and can be used without any additional actions. However, to be able to start the system with the MORSE simulator you will need a separated installation and thus to follow the next instructions. Despite the fact MORSE is heavier, it gives more precise movements and we recommend to use it for experimenting. But you can skip this step if you only want to use the way lighter Stage simulator for a quick test.
You first need to clone the following repository and checkout the "cohan_melodic_multi" branch :
git clone -b cohan_melodic_multi https://github.com/AnthonyFavier/morse
Then go in the downloaded directory to build and install the simulator (Make sure python-dev and python3-dev are installed) :
cd morse
mkdir build && cd build
cmake ..
sudo make install
After that, you can check if the installation and configuration is ok :
morse check
A simple example to run is presented in next section below. This section details how to use InHuS.
0. Sourcing
Don't forget in each shell to source the workspace :
source devel/setup.bach
1. Start the simulator
- With Stage :
roslaunch inhus_navigation stage_simulator.launch
- With MORSE (if installed thanks to the instructions above) :
roslaunch inhus_navigation morse_simulator.launch
2. Start InHuS
- With basic navigation :
roslaunch inhus_navigation inhus_nav.launch
- With enhanced navigation (CoHAN)
roslaunch inhus_navigation inhus_cohan_nav.launch
3. Send goals
Now use the Boss interface to send goals individually to different agents, start scenarios, activate attitudes or endless mode. Predefined goals are specified in the goals.xml file.
4. View logs At any time you can run the following roslaunch to launch the GUI and start the data visualization:
roslaunch inhus gui.launch
Note that you just have to refresh the page to update the data. So the GUI can be left open while testing and restarting inhus, and you just have to refresh the page to update to the most revent data.
In order to first try the system, you can run the following example. You can use a simple robot controller provided named "smb". Just edit one of the last line of the file InHuS_Social_Navigation/src/inhus_system/inhus/launch/boss.launch like below :
from :
<arg name="ns_robot" default=""/>
to :
<arg name="ns_robot" default="smb"/>Then, referring to the previous section, launch the following :
roslaunch inhus_navigation stage_simulator.launch
roslaunch inhus_navigation inhus_nav.launch
roslaunch smb all.launch
After, in the Boss interface you can input the following to init a conflict scenario :
"2-Scenario (2) => 2-narrow_passage (2) => 1-Init (1)"
Then, once both agents are in place, choose :
"2-Scenario (2) => 2-narrow_passage (2) => 2-Start (2) => -1 seconds (-1)"
This example launches InHuS with the enhanced navigation and uses the Human Aware Robot Planner CoHAN under developpement at LAAS-CNRS.
roslaunch inhus_navigation morse_simulator.launch
roslaunch inhus_navigation inhus_cohan_nav.launch
In the Boss interface :
"2-Scenario (2) => 4-narrow_corridor (4) => 1-Init (1)"
Then, once both agents are in place (there should already be and thus not move), choose :
"2-Scenario (2) => 4-narrow_corridor (4) => 2-Start (2) => 0 seconds (0)"
The InHuS System works along with a human operator, a chosen simulator, and the challenged robot controller. The system is majorly implemented using ROS. Besides, note that the InHuS System is three-sided. First, the system comes with a high-level interface called Boss that helps manage the simulated agents. Secondly, there is the main part which is the intelligent human avatar controller itself, called InHuS. Finally, a GUI provides an interactive visualization of the data and metrics computed by InHuS during execution that can help to evaluate interactions. We present below some details for each component.
The provided implemented version is tailored to social robot navigation. Thus, plans are composed of positions to reach. Thanks to some unique features the system offers several rational human behaviors.
1. Navigation Conflict Manager
One of the unique features is the ability to detect and act over path blockage by other agents. Instead of taking a detour, the agent performs an approach and waits for the path to be cleared. The behavior to follow when a navigation conflict is encountered is described in the Navigation Conflict Manager component, itself in the Human Behavior Model component.
2. Attitudes
Another unique feature is the ability to activate Attitudes. Attitudes are modes that affect goal decisions and reactions regarding other agents. They can create several very different behaviors and long term activity. Four attitudes are currently implemented, two of them are represented below (Harass and StopAndLook) :
