gwendolen-ros-curiosity

Examples of a Gwendolen agent autonomously controlling a Mars Curiosity Rover.

Curiosity model and Mars world courtesy of The Construct.

Tested on Ubuntu 16.04 with ROS Kinetic and Ubuntu 18.04 with ROS Melodic (it might work on different versions, but there is no confirmation yet).

Requires MCAPL to be installed and tested to run correctly.

Requires Gwendolen-Rosbridge to be installed and tested to run correctly.

Inspection

To run the Inspection simulation:

1. Copy the curiosity_mars_rover_description folder to your src folder of your catkin workspace
   • If you don't have a catkin workspace you can follow this tutorial (adapt for your version of ROS)
   • Make sure you either source ~/catkin_ws/devel/setup.bash (assuming catkin_ws is the path to your catkin workspace) everytime you wish to launch race world on a new terminal, or add it to your ~/.bashrc
2. Recompile your catkin workspace by going to ~/catkin_ws/ (assuming catkin_ws is the path to your catkin workspace) and running catkin_make
   • To test that the simulation is working, run roslaunch curiosity_mars_rover_description main_real_mars.launch and press play on the Gazebo window (the curiosity shouldn't do anything, but there should be no errors in the terminal)
3. Copy the src/examples/gwendolen/ros/curiosity/inspection folder from this git to MCAPL root
4. Launch the simulation in ros roslaunch curiosity_mars_rover_description main_real_mars.launch but do not press play yet
5. If you installed MCAPL in Eclipse, go to src/examples/gwendolen/ros/curiosity/inspection, right-click curiosity.ail, select run as > run configurations, type run-AIL in the search box (should be there if MCAPL was installed correctly), and click on run

or

If you prefer running from the command line, edit the file build.xml on the root folder of mcapl to add this line in the group of : , and run ant compile on the root folder of mcapl. Then, from the mcapl root folder, use this command to run the agent java -cp .:bin:lib/3rdparty/RunJPF.jar:lib/3rdparty/java_rosbridge_all.jar:lib/3rdparty/system-rules-1.16.0.jar:lib/3rdparty/junit-4.10.jar:lib/3rdparty/json-simple-1.1.1.jar:lib/3rdparty/jpl.jar:lib/3rdparty/jpf-classes.jar:lib/3rdparty/jpf-annotations.jar:lib/3rdparty/java-prolog-parser.jar:lib/3rdparty/ev3tools.jar:lib/3rdparty/ev3classes.jar:lib/3rdparty/eis-0.5.0.jar:lib/3rdparty/jpf.jar:lib/3rdparty/antlr-4.7-complete.jar:lib/3rdparty/commons-io-2.4.jar:lib/3rdparty/mapdbWrapper.jar ail.mas.AIL src/examples/gwendolen/ros/curiosity/inspection/curiosity.ail

6. Once ROS and the agent are running, press play on the Gazebo window

• The curiosity will patrol four different waypoints