gwendolen-ros-turtlebot3

Examples of a Gwendolen agent autonomously controlling a turtlebot3 (burger).

Requires gwendolen-rosbridge to be installed and working.

Also requires turtlebot3-ros to be installed. Make sure to install turtlebot3 main files and turtlebot3 simulation files.

Turtlebot3-ros requires Ubuntu 16.04 and ROS Kinetic.

Since we are using the burger model of turtlebot3, make sure to follow the steps described here.

Fake node

Fake node is a simple representation of a turtlebot3 in rviz, where the Gwendolen agents firt moves 2 meters, and then keeps moving 2 meters every 2000 milliseconds.

To run the fake node simulation:

1. Copy the launch file launch/turtlebot3_fake_with_rosbridge.launch to ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_fake/launch
   • Make sure you either source ~/catkin_ws/devel/setup.bash everytime you wish to launch turtlebot on a new terminal, or add it to your ~/.bashrc
2. Copy the src folder to MCAPL root
3. Launch the fake node in ros roslaunch turtlebot3_fake turtlebot3_fake_with_rosbridge.launch
4. In Eclipse, go to src/examples/gwendolen/ros/turtlebot3/fakenode, right-click turtlebot3.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
   • The robot should start moving forward in the rviz window

Empty world

Empty world is an empty Gazebo world with a turtlebot3.

To run the empty world simulation:

1. Copy the launch file launch/turtlebot3_empty_world_with_rosbridge.launch to ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch
   • Make sure you either source ~/catkin_ws/devel/setup.bash everytime you wish to launch turtlebot on a new terminal, or add it to your ~/.bashrc
2. Copy the src folder to MCAPL root
3. Launch the empty world in ros roslaunch turtlebot3_gazebo turtlebot3_fake_with_rosbridge.launch
4. In Eclipse, go to src/examples/gwendolen/ros/turtlebot3/emptyworld, right-click turtlebot3.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
   • The robot should start slowly moving forward, stopping, and repeating the movement in the gazebo window

Turtlebot world (with move_base for moving with coordinates)

Turtlebot world is a Gazebo world with the turtlebot logo as obstacles and a turtlebot3.

To run the turtlebot world simulation:

1. Copy the launch file launch/turtlebot3_world_with_rosbridge.launch to ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch
   • Make sure you either source ~/catkin_ws/devel/setup.bash everytime you wish to launch turtlebot on a new terminal, or add it to your ~/.bashrc
2. Copy the map file maps/map.yaml to ~/catkin_ws/src/turtlebot3/turtlebot3_navigation/maps
3. Copy the folder simple_navigation_goals to ~/catkin_ws/src/
4. Recompile your catkin workspace by going to ~/catkin_ws/ and running catkin_make
5. Copy the src folder to MCAPL root
6. Launch the turtlebot world in ros roslaunch turtlebot3_gazebo turtlebot3_world_with_rosbridge.launch
7. In Eclipse, go to src/examples/gwendolen/ros/turtlebot3/turtlebotworld, right-click turtlebot3.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
   • The robot will patrol the four areas in the middle of the pillars

Turtlebot house (with three turtlebots and three agents)

Turtlebot house is Gazebo world with a house and three turtlebot3.

To run the turtlebot house simulation:

1. Copy the launch file launch/multi_turtlebot3_house_with_rosbridge.launch to ~/catkin_ws/src/turtlebot3_simulations/turtlebot3_gazebo/launch
   • Make sure you either source ~/catkin_ws/devel/setup.bash everytime you wish to launch the simulation on a new terminal, or add it to your ~/.bashrc
2. Copy the map files maps/map_house.pgm and maps/map_house.yaml to ~/catkin_ws/src/turtlebot3/turtlebot3_navigation/maps
3. Copy the folder simple_navigation_goals to ~/catkin_ws/src/ (if it is not already there)
4. Recompile your catkin workspace by going to ~/catkin_ws/ and running catkin_make
5. Copy the src folder to MCAPL root
6. Launch the turtlebot world in ros roslaunch turtlebot3_gazebo multi_turtlebot3_house_with_rosbridge.launch
7. In Eclipse, to run the agents, go to src/examples/gwendolen/ros/turtlebot3/turtlebothouse, right-click turtlebot3.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
8. In Eclipse, to run the model checker (should be offline), go to src/examples/gwendolen/ros/turtlebot3/turtlebothouse, right-click turtlebot3.jpf, select run as > run configurations, type run-JPF in the search box (should be there if MCAPL was installed correctly), and click on run