This repository contains the replication package for manuscript 1363281 submitted to the Frontiers journal in the Robotics Software Engineering topic.
The FloorPlan DSL models used in this paper can be transformed into simulation-ready sceneries with the FloorPlan DSL tools. These include Gazebo worlds, Gazebo models and 3D meshes and occupancy grid maps.
The tasks used for the scenarios are specified here. They are dispatched by a component that publishes the move_base goals one by one, available here.
The gazebo plugins for the dynamic scenery objects are available here.
The artefacts generated by the FloorPlan DSL tools for each scenario are as follows:
| Scenario ID | World | Map | Task |
|---|---|---|---|
| Scenario 1 | brsu_building_c_static | brsu_building_c_static | left_long_corridor_task |
| Scenario 2 | brsu_building_c_dynamic | brsu_building_c_static | left_long_corridor_task |
| Scenario 3.1 | brsu_building_c_adversarial_events | brsu_building_c_dynamic | task_1 |
| Scenario 3.2 | brsu_building_c_adversarial_events | brsu_building_c_dynamic | task_2 |
| Scenario 3.3 | brsu_building_c_adversarial_events | brsu_building_c_dynamic | task_3 |
| Scenario 3.4 | brsu_building_c_adversarial_events | brsu_building_c_dynamic | task_4 |
| Scenario 3.5 | brsu_building_c_no_events | brsu_building_c_dynamic | task_2 |
| Scenario 3.6 | brsu_building_c_no_events | brsu_building_c_dynamic | task_4 |
The experiments were conducted using ROS1 noetic for the KELO Robile. The three configurations used in Scenarios 3.1-3.6 correspond to the following branches in the robile_navigation package. For convenience, we have included the three rosinstall files, which can be used to set up the catkin workspace using something like vcstool
| Config | Branch | File |
|---|---|---|
a2s |
noetic | a2s.rosinstall |
fro-omni |
frontiers/omni-config | fro-omni.rosinstall |
fro-diff |
frontiers/diff-config | fro-diff.rosinstall |
After setting up the catkin workspace with this replication package and the SUT software, the script experiments.bash can be used to run a set of 5 runs per scenario.