shineyruan / vehicle-routing-ros2

Implementation of dynamic vehicle routing (DVR) algorithms in a truely distributed fashion based on ROS 2.

vehicle-routing-ros2

Implementation of dynamic vehicle routing (DVR) algorithms in a truly distributed fashion based on ROS 2.

For a simplified version, please check out https://github.com/lb-robotics/python-vehicle-routing.

Software Requirements

• Ubuntu 22.04 LTS (Jammy)
• ROS 2 Humble

Usage

1. Create ROS workspace.

mkdir -p ~/dvr_ws/src

2. Clone this repo into src folder.

cd ~/dvr_ws/src
git clone https://github.com/shineyruan/vehicle-routing-ros2.git

3. Install dependencies.

cd ~/dvr_ws
source /opt/ros/humble/setup.bash
sudo rosdep init
rosdep update
rosdep install --from-paths src -i -y

4. Build the workspace. The entire workspace is composed in dvr_launch package.

cd ~/dvr_ws
colcon build --symlink-install --packages-up-to dvr_launch --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1

Note. For easier Colcon usage, one can make use of the Colcon mixin repository. Simply install the Colcon mixin extension via

sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

then we can get rid of the --cmake-args arguments:

colcon build --symlink-install --packages-up-to dvr_launch --mixin compile-commands

5. Run the demo. number_vehicles controls the number of vehicles generated. (Default is 10)

ros2 launch dvr_launch dvr.launch.py number_vehicles:=10

6. Try more examples by modifying the parameters in dvr_launch/config!

References

• F. Bullo, E. Frazzoli, M. Pavone, K. Savla and S. L. Smith, "Dynamic Vehicle Routing for Robotic Systems," in Proceedings of the IEEE, vol. 99, no. 9, pp. 1482-1504, Sept. 2011, doi: 10.1109/JPROC.2011.2158181.
• M. Pavone, A. Arsie, E. Frazzoli and F. Bullo, "Distributed Algorithms for Environment Partitioning in Mobile Robotic Networks," in IEEE Transactions on Automatic Control, vol. 56, no. 8, pp. 1834-1848, Aug. 2011, doi: 10.1109/TAC.2011.2112410.
• Vardi, Yehuda, and Cun-Hui Zhang. "The multivariate L1-median and associated data depth." Proceedings of the National Academy of Sciences 97.4 (2000): 1423-1426.

Acknowledgements

• CI set up is borrowed from autoware.universe and autoware-github-actions.