renamed environment to simulator | added pedsim to scenario task in f…

…latland

.rosinstall

@@ -17,7 +17,7 @@
 
 - git:
     local-name: ../utils/pedsim_ros
-    uri: https://github.com/ignc-research/pedsim_ros
+    uri: https://github.com/Arena-Rosnav/pedsim_ros.git
     version: master
 
 - git:

arena_bringup/launch/start_arena.launch

@@ -32,11 +32,11 @@
   <!-- You can launch a single robot and his local_planner with arguments -->
   <arg name="model" default="burger" doc="robot model type [burger, jackal, ridgeback, agvota, rto, ...]" />
   <arg name="local_planner" default="teb" doc="local planner type [teb, dwa, mpc, rlca, arena, rosnav]" />
-  <arg name="environment" default="flatland" doc="[flatland, gazebo]" />
+  <arg name="simulator" default="flatland" doc="[flatland, gazebo]" />
 
   <arg name="complexity" default="1" doc="1 = Map known, Position known; 2 = Map known, Position unknown (AMCL); 3 = Map unknown, Position unknown (SLAM)" />
 
-  <env name="ENVIRONMENT" value="$(arg environment)" />
+  <env name="SIMULATOR" value="$(arg simulator)" />
 
   <arg name="agent_name" default="$(arg model)"     doc = "DRL agent name to be deployed" unless="$(eval arg('local_planner') != 'rosnav')" />
   <!-- Or you can load a robot setup file to launch multiple robots in the same simulation -->
@@ -71,7 +71,7 @@
   <param name="use_sim_time" value="true"/>
 
   <param name="model" value="$(arg model)" />
-  <param name="environment" value="$(arg environment)" />
+  <param name="simulator" value="$(arg simulator)" />
   <param name="task_mode" value="$(arg task_mode)" />
   <param name="map_path" value="$(arg map_path)" />
   <param name="train_mode" value="false" />
@@ -107,15 +107,15 @@
   <!-- use simulator-->
 
   <!-- Flatland -->
-  <include file="$(find arena_bringup)/launch/testing//simulators/flatland.launch" if="$(eval arg('environment') == 'flatland')">
+  <include file="$(find arena_bringup)/launch/testing//simulators/flatland.launch" if="$(eval arg('simulator') == 'flatland')">
     <arg name="visualization" default="$(arg visualization)" />
     <arg name="rviz_file" value="$(arg rviz_file)" />
     <arg name="model" value="$(arg model)" />
     <arg name="show_rviz" value="$(arg show_rviz)" />
   </include>
 
   <!-- Gazebo -->
-  <include file="$(find arena_bringup)/launch/testing/simulators/gazebo.launch" if="$(eval arg('environment') == 'gazebo')">
+  <include file="$(find arena_bringup)/launch/testing/simulators/gazebo.launch" if="$(eval arg('simulator') == 'gazebo')">
     <arg name="model" value="$(arg model)" />
     <arg name="rviz_file" value="$(arg rviz_file)" />
     <arg name="show_rviz" default="$(arg show_rviz)" />
@@ -140,13 +140,13 @@
     <arg name="auto_reset" value="$(arg auto_reset)" />
   </include>
 
-  <!-- <node name="pedsim_simulator" pkg="pedsim_simulator" type="pedsim_simulator" output="screen">
+  <node name="pedsim_simulator" pkg="pedsim_simulator" type="pedsim_simulator" output="screen">
     <param name="simulation_factor" value="1" type="double"/>
     <param name="pedsim_update_rate" value="30.0" type="double"/>
     <param name="scene_file" value="$(find arena-simulation-setup)/world/$(arg world_file)/scenarios/$(arg world_file).xml" type="string"/>
   </node>
 
-  <node name="pedsim_visualizer" type="pedsim_visualizer_node" pkg="pedsim_visualizer"/> -->
+  <!-- <node name="pedsim_visualizer" type="pedsim_visualizer_node" pkg="pedsim_visualizer"/> -->
 
   <!-- launch map generator if training with random map-->
   <!-- <group if="$(eval arg('map_file') == 'random_map')">

arena_bringup/launch/testing/robot.launch

@@ -38,7 +38,7 @@
 
     <node pkg="tf2_ros" type="static_transform_publisher" name="transform_broadcaster" args="0 0 0 0 0 0 1 map $(arg namespace)/odom" />
 
-    <group if="$(eval env('ENVIRONMENT') == 'gazebo')">
+    <group if="$(eval env('SIMULATOR') == 'gazebo')">
         <include file="$(find arena-simulation-setup)/robot/$(arg model)/launch/control.launch">
             <arg name="robot_namespace" value="$(arg namespace)" />
         </include>

arena_bringup/params/flatland_deploy.yaml

@@ -1,3 +1,3 @@
 step_size: 0.1
-update_rate: 50
+update_rate: 10
 viz_pub_rate: 30

task_generator/README.md

@@ -39,10 +39,10 @@ robot are defined.
 The scenario declaration file can be created with [arena-tools](https://github.com/Arena-Rosnav/arena-tools) and has to follow
 the specified file schema.
 
-## Environment Factory
+## Simulator Factory
 
-To be able to use the task generator module in all our environments without changes, a unified interface between environment and task generator is needed. The interface contains a lot of functions to spawn, publish or move robots or obstacles, and a lot more.
+To be able to use the task generator module in all our Simulators without changes, a unified interface between Simulator and task generator is needed. The interface contains a lot of functions to spawn, publish or move robots or obstacles, and a lot more.
 
-At the moment we provide environment interfaces for **Flatland** and **Gazebo**. In order to add a new environment, in which the task generator should be used, a new environment interface has to be created in `/taks_generator/environments/` and has to be registrated in the environment factory.
+At the moment we provide simulator interfaces for **Flatland** and **Gazebo**. In order to add a new simulator, in which the task generator should be used, a new simulator interface has to be created in `/taks_generator/simulators/` and has to be registrated in the simulator factory.
 
-Your newly created environment interface should derive the **BaseEnvironment** located [here](TODO) and implement all functions. A detailed description of the functions is contained in the **BaseEnvironment** itself.
+Your newly created simulator interface should derive the **BaseSimulator** located [here](TODO) and implement all functions. A detailed description of the functions is contained in the **BaseSimulator** itself.

task_generator/scenarios/Eval_13_02.json

@@ -0,0 +1,28 @@
+{
+  "map": "small_warehouse",
+  "resets": 10,
+  "robots": [
+    {
+      "start": [-5.1, 5.9, 0],
+      "goal": [0.600000000000001, -7.4, 0]
+    }
+  ],
+  "obstacles": {
+    "dynamic": [
+      {
+        "type": "pedestrian",
+        "waypoints": [
+          [-5.3, 0.2, 0],
+          [1, -1.1, 0]
+        ]
+      },
+      {
+        "type": "pedestrian",
+        "waypoints": [
+          [-4.6, -3.9, 0],
+          [0.9, -4.1, 0]
+        ]
+      }
+    ]
+  }
+}

task_generator/scripts/task_generator_node.py

@@ -13,9 +13,9 @@
 from task_generator.constants import Constants, TaskMode
 
 from task_generator.tasks.utils import get_predefined_task
-from task_generator.environments.environment_factory import EnvironmentFactory
-from task_generator.environments.gazebo_environment import GazeboEnvironment
-from task_generator.environments.flatland_environment import FlatlandRandomModel
+from task_generator.simulators.simulator_factory import SimulatorFactory
+from task_generator.simulators.gazebo_simulator import GazeboSimulator
+from task_generator.simulators.flatland_simulator import FlatlandRandomModel
 
 
 class TaskGenerator:
@@ -37,7 +37,7 @@ def __init__(self) -> None:
         rospy.Service("reset_task", Empty, self.reset_task_srv_callback)
 
         ## Vars
-        self.env_wrapper = EnvironmentFactory.instantiate(Utils.get_environment())("")
+        self.env_wrapper = SimulatorFactory.instantiate(Utils.get_simulator())("")
 
         rospy.loginfo(f"Launching task mode: {self.task_mode}")
 

task_generator/task_generator/constants.py

@@ -15,7 +15,7 @@ class ObstacleManager:
     class RobotManager:
         SPAWN_ROBOT_SAFE_DIST = 0.4
 
-    class Environment:
+    class Simulator:
         FLATLAND = "flatland"
         GAZEBO = "gazebo"
 

task_generator/task_generator/manager/obstacle_manager.py

@@ -2,21 +2,26 @@
 
 
 class ObstacleManager:
-    def __init__(self, namespace, map_manager, environment):
+    def __init__(self, namespace, map_manager, simulator):
         self.map_manager = map_manager
         self.namespace = namespace
-        self.environment = environment
+        self.simulator = simulator
 
     def start_scenario(self, scenario):
-        self.environment.spawn_pedsim_agents(scenario["obstacles"]["dynamic"])
+        self.simulator.spawn_pedsim_agents(scenario["obstacles"]["dynamic"])
 
     def reset_scenario(self, scenario):
-        self.environment.reset_pedsim_agents()
+        self.simulator.reset_pedsim_agents()
 
-        self.environment.remove_all_obstacles()
+        self.simulator.remove_all_obstacles()
+
+        print(scenario.get("obstacles").get("static"))
+
+        if not scenario.get("obstacles") or not scenario.get("obstacles").get("static"):
+            return
 
         for obstacle in scenario["obstacles"]["static"]:
-            self.environment.spawn_obstacle(
+            self.simulator.spawn_obstacle(
                 [*obstacle["pos"], 0],
                 yaml_path=obstacle["yaml_path"],
             )
@@ -27,20 +32,20 @@ def reset_random(
             static_obstacles=Constants.ObstacleManager.STATIC_OBSTACLES,
             forbidden_zones=[]
         ):
-        self.environment.remove_all_obstacles()
+        self.simulator.remove_all_obstacles()
 
         for _ in range(dynamic_obstacles):
             position = self.map_manager.get_random_pos_on_map(
                 safe_dist=Constants.ObstacleManager.OBSTACLE_MAX_RADIUS, 
                 forbidden_zones=forbidden_zones
             )
 
-            self.environment.spawn_random_dynamic_obstacle(position=position)
+            self.simulator.spawn_random_dynamic_obstacle(position=position)
 
         for _ in range(static_obstacles):
             position = self.map_manager.get_random_pos_on_map(
                 safe_dist=Constants.ObstacleManager.OBSTACLE_MAX_RADIUS, 
                 forbidden_zones=forbidden_zones
             )
 
-            self.environment.spawn_random_static_obstacle(position=position)
+            self.simulator.spawn_random_static_obstacle(position=position)

task_generator/task_generator/manager/robot_manager.py

@@ -21,13 +21,13 @@ class RobotManager:
         position of a robot for all task modes.
     """
 
-    def __init__(self, namespace, map_manager, environment, robot_setup):
+    def __init__(self, namespace, map_manager, simulator, robot_setup):
         self.namespace = namespace
         self.namespace_prefix = "" if namespace == "" else "/" + namespace + "/"
         self.ns_prefix = lambda *topic: os.path.join(self.namespace, *topic)
 
         self.map_manager = map_manager
-        self.environment = environment
+        self.simulator = simulator
 
         self.start_pos = [0, 0]
         self.goal_pos = [0, 0]
@@ -44,7 +44,7 @@ def set_up_robot(self):
         if Utils.get_arena_type() == Constants.ArenaType.TRAINING:
             self.robot_radius = rospy.get_param("robot_radius")
 
-        self.environment.spawn_robot(self.namespace, self.robot_setup["model"], self._robot_name())
+        self.simulator.spawn_robot(self.namespace, self.robot_setup["model"], self._robot_name())
 
         self.move_base_goal_pub = rospy.Publisher(self.ns_prefix(self.namespace, "move_base_simple", "goal"), PoseStamped, queue_size=10)
         self.pub_goal_timer = rospy.Timer(rospy.Duration(0.25), self.publish_goal_periodically)
@@ -159,7 +159,7 @@ def move_robot_to_start(self):
             self.move_robot_to_pos(self.start_pos)
 
     def move_robot_to_pos(self, pos):
-        self.environment.move_robot(pos, name=self.namespace)
+        self.simulator.move_robot(pos, name=self.namespace)
 
     def _default_position(self, pos, callback_pos):
         if not pos == None: