active-perception-experiments

Experiments for active perception

compile

$ mkdir -p ~/jason_ros_ws/src
$ cd ~/jason_ros_ws
$ catkin_init_workspace src

Then, you must first download jason_ros and this repo , use catkin_make to build it, and source the workspace.

$ cd ~/jason_ros_ws/src
$ git clone https://github.com/jason-lang/jason_ros.git
$ git clone https://github.com/Rezenders/active-perception-experiments.git
$ cd ~/jason_ros_ws
$ catkin_make
$ source devel/setup.bash

run using roslaunch

Terminal 1:

$ sim_vehicle.py -v ArduCopter --console --map -L UFSC

Terminal 2:

$ roslaunch active-perception-experiments uav_ap.launch

run one by one

Terminal 1:

$ sim_vehicle.py -v ArduCopter --console --map -L UFSC

Terminal 2:

$ roscore

Terminal 3:

$ roslaunch mavros apm.launch fcu_url:="udp://:14551@:14555"

Terminal 4:

$ rosrun hw_bridge hw_bridge.py -a actions_manifest -p perceptions_manifest

Use the correct path for actions_manifest and perceptions_manifest

Terminal 5:

$ cd uav_ap/
$ gradle

using docker

$ sudo docker network create ros_net

$ sudo docker build -t ap_experiment .

$ xhost +local:root # for the lazy and reckless

$ sudo docker run -it --rm --env="DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --name ardupilot --net ros_net rezenders/ardupilot-ubuntu sim_vehicle.py -v ArduCopter --console --map -L UFSC --out mavros:14551

$ sudo docker run -it --rm --net ros_net  --name mavros --env ROS_HOSTNAME=mavros ap_experiment roslaunch active-perception-experiments uav_ap.launch fcu_url:="udp://:14551@ardupilot:14555"

$ gradle

Reference

If you find this repository usefull and use it in your project, please consider citing it:

@inproceedings{silva2021active,
  title={Active Perception within BDI Agents Reasoning Cycle},
  author={Silva, Gustavo R and H{\"u}bner, Jomi F and Becker, Leandro B},
  booktitle={Proceedings of the 20th International Conference on Autonomous Agents and MultiAgent Systems},
  pages={1218--1225},
  year={2021}
}

Paper link

And

@article{silva2020embedded,
  title={Embedded Architecture Composed of Cognitive Agents and ROS for Programming Intelligent Robots},
  author={Silva, Gustavo R and Becker, Leandro B and H{\"u}bner, Jomi F},
  journal={IFAC-PapersOnLine},
  volume={53},
  number={2},
  pages={10000--10005},
  year={2020},
  publisher={Elsevier}
}

Paper link