This package provides safety for human-robot interaction using reachability analysis. We use SaRA to calculate the reachable sets of humans and robots. The SaRA shield additionally provides the necessary trajectory control to stop the robot before any collision with the human could occur.
git clone --recurse-submodules [email protected]:JakobThumm/sara-shield.git
The installation requires gcc, c++>=17, and Eigen3 version 3.4 (download it here: https://eigen.tuxfamily.org/index.php?title=Main_Page).
Set the path to your eigen3 installation to this env variable, e.g.,
export EIGEN3_INCLUDE_DIR="/usr/include/eigen3/eigen-3.4.0"
Install gtest
sudo apt-get install libgtest-dev
cd safety_shield
mkdir build && cd build
cmake ..
make -j 4
pip install -r requirements.txt
python setup.py install
pytest safety_shield/tests