Heterogeneous Multi-Robots Systems Simulator

Install for Dev

Dependencies: python 3.8+, pip

Install pipenv

pipenv easy the process of managing python dependencies

Install dependencies

Inside the project folder (after clone)

$ pip install pipenv
$ cd HMRSsim
$ pipenv install
$ pipenv shell
(hmrssim env) % pipenv install --dev

Install the package

Currently the easier way to install the package is to do it locally. In the root folder run the command below to install the HMRsim_lesunb package in edit mode. Edit mode means any changes you make to src/simulator will be reflected in the package.

pip install -e .

Check the package was installed.

pip list
# ...
# HMRsim-lesunb            0.0.1
# ...

Run

Simulations are defined in by config objects. You can pass the config to the Simulator class either by a dict object, or by passing the path to a json file.

simulator = Simulator(config)

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The package exports a utility function to help you parse the config.
$ hmrsimcli configtest -f simulation.json

The file that build a simulation and runs it is run.py To execute the simulation, run

$ python run.py [path/to/config.json]

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Check the examples/ folder for different example simulations

Run using Docker

If you just want to run a simulation in the project (e.g. you are not developing HMRSim itself) you may opt to run it using a Docker container. First you build the image, which does exactly what was described above in a Docker image

$ docker build --rm -t hmrsim .

Then you can run simulations inside the container by using the command below.

$ docker run -it -v ${PWD}/examples/hospitalSimulation:/usr/app hmrsim:latest python run.py ./simulation.json

This command has a few important parts:

• -v ${PWD}/examples/hospitalSimulation:/usr/app - Connects the folder ${PWD}/examples/hospitalSimulation in the host machine to the folder /usr/app in the container. The working directory inside the container is /usr/app. You should change examples/hospitalSimulation by the path to the root folder of your simulation project.

• hmrsim:latest - Indicates what image to use

• python run.py ./simulation.json - Command to start the simulation, as described above. Notice that run.py is actually /usr/app/run.py inside the container. Same thing for simualtion.json.

Dependency

Add New Dependency

To add new dependencies use the following command.

$ pipenv install [name]

This command will add the dependency to the Pipfile and Pipfile.lock assuring that the execution can be reproduced in another environment (after dependencies are updated with pipenv install command )

Add New Dev Dependency

Same as previous dependencies, but for development libraries such as the ones used for test.

$ pipenv install [name] --dev

Note that other systems after pulling updates will need a reexecution of pipenv install --dev