suave_rosa

Applying ROSA to the SUAVE exemplar

Tested with ubuntu 22.04 and ROS Humble

Install

Check the SUAVE repo for additional installation instructions to install SUAVE.

Create workspace and clone repo:

mkdir -p ~/suave_rosa_ws/src
cd ~/suave_rosa_ws/src
git clone git@github.com:kas-lab/suave_rosa.git

Get dependencies:

source /opt/ros/humble/setup.bash
cd ~/suave_rosa_ws/
wget https://raw.githubusercontent.com/kas-lab/suave/refs/heads/main/suave.repos
vcs import src < suave.repos
vcs import src < src/suave_rosa/suave_rosa.repos --recursive
rosdep install --from-paths src --ignore-src -r -y

Build:

colcon build --symlink-install

Docker

The SUAVE docker images were extended to include ROSA. You can find additional information about the original SUAVE image in the SUAVE repo.

Docker with web interface

Run with docker:

docker run -it --shm-size=512m -v $HOME/suave_rosa_results:/home/kasm-user/suave/results -p 6901:6901 -e VNC_PW=password --security-opt seccomp=unconfined ghcr.io/kas-lab/suave_rosa:main

In your browser go the address: http://localhost:6901 Login: - User : kasm_user - Password: password

You can run SUAVE + ROSA with the instructions in the running section

Docker headless

Run docker image without web interface (with nvidia)(don't forget to install the docker-nvidia-toolkit)

docker run -it --rm --gpus all --runtime=nvidia --name suave_rosa_runner -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro ghcr.io/kas-lab/suave_rosa-headless:latest

Run docker image without web interface (without nvidia):

docker run -it --rm --name suave_rosa_runner -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro ghcr.io/kas-lab/suave_rosa-headless:latest

DEV:

docker run -it --rm --gpus all --runtime=nvidia --name suave_rosa_runner -e DISPLAY=$DISPLAY -e QT_X11_NO_MITSHM=1 -e NVIDIA_VISIBLE_DEVICES=all -e NVIDIA_DRIVER_CAPABILITIES=all -v /dev/dri:/dev/dri -v /tmp/.X11-unix:/tmp/.X11-unix -v /etc/localtime:/etc/localtime:ro -v $HOME/suave_ws/src/suave_rosa:/home/ubuntu-user/suave_ws/src/suave_rosa suave_rosa

Build Docker images locally

Docker image with web interface:

docker build -t suave_rosa -f docker/Dockerfile .

Docker image without web interface:

docker build -t suave_rosa-headless -f docker/Dockerfile-headless .

Running manually

Run ardusub SITL:

sim_vehicle.py -L RATBeach -v ArduSub  --model=JSON --console

Run SUAVE simulation:

source ~/suave_rosa_ws/install/setup.bash
ros2 launch suave simulation.launch.py x:=-17.0 y:=2.0

Run ROSA for the original SUAVE use case:

source ~/suave_rosa_ws/install/setup.bash
ros2 launch suave_rosa suave_rosa.launch.py mission_type:=time_constrained_mission result_filename:=suave_rosa_result

Run ROSA for the extended SUAVE use case:

source ~/suave_rosa_ws/install/setup.bash
ros2 launch suave_rosa suave_rosa_extended.launch.py mission_type:=time_constrained_mission result_filename:=suave_rosa_result

Runner

Python runner (most updated)

You can run it with the launchfile:

ros2 launch suave_rosa_runner suave_runner_launch.py

Changing experiments config: Simply change the runner_config.yml file

Or you can run it with the suave_runner ros node:

ros2 run suave_runner suave_runner \
  --ros-args \
  -p gui:=False \
  -p experiments:='[
    "{\"experiment_launch\": \"ros2 launch suave_rosa_bt suave_rosa_bt.launch.py\", \
      \"num_runs\": 1, \
      \"adaptation_manager\": \"rosa\", \
      \"mission_name\": \"suave\"}"
  ]'

ros2 run suave_runner suave_runner \
  --ros-args \
  -p gui:=False \
  -p experiments:='[
    "{\"experiment_launch\": \"ros2 launch suave_rosa_bt suave_rosa_extended_bt.launch.py\", \
      \"num_runs\": 1, \
      \"adaptation_manager\": \"rosa\", \
      \"mission_name\": \"suave_extended\"}"
  ]'

Bash runner (only works with the docker image with the web interface)

You can use a runner to execute the experiments multiple times (check SUAVE repo for more info):

./rosa_runner.sh true rosa time 20