DynaBARN

Repository for DynaBARN. This code can be used to generate various DynaBARN environments of obstacles with different motion profiles. The 60 premade DynaBARN environments are at https://tufts.box.com/s/0dsoen9yno1qrnpj0l75eni7kmjdcx7c The Gazebo world files are under the folder titled 'DynaBARN_worlds_60'. The plugin files are under 'all_cylinder_plugins'. To simulate the 60 premade DynaBARN worlds, export the location of the plugins to the plugin path variable using

export GAZEBO_PLUGIN_PATH=/path/to/plugins/testplugin/all_cylinder_plugins

Then simulate the environment using

gazebo world_{world number}.world

Example Worlds

Requirements

• Python 2
• NumPy
• Matplotlib
• SciPy

Using this repository

After cloning this repository onto your computer, create two folders called "plugins" and "worlds" in the same directory. There are a few arguments for creating the trajectories and worlds:

• --save_dir and --plugin_dir are the directories for the world files and plugins, respectively
• --min_object and --max_object are the minimum and maximum number of obstacles in each world
• --n_worlds are the number of worlds to generate
• --min_speed and --max_speed are the minimum and maximum speeds between each waypoint in the trajectories for each obstacle
• --min_std and --max_std are the minimum and maximum standard deviations in speed between each waypoint
• --difficulty is the difficulty to label each trajectory, but it is not necessary