RENPSM

A software simulator for Random Enzymatic Numerical P Systems with Shared Memory (RENPSM)

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. The recommended OS is Ubuntu 16.04.3 Desktop 64 bits.

Prerequisites

• ROS Kinetic Framework
• MobileSim Software
• ROSARIA node
• AMR ROS

Installing

• Install the ROS kinetic framework following the next instructions

• Create a Catkin Workspace following the next tutorial

• Download and install MobileSim following the next instructions

• Install ROSARIA node following the next tutorial

• Clone the AMR ROS repository in your $HOME/catkin_ws/src directory

• Clone the RENPSM repository in your your $HOME/catkin_ws/src directory

• Run catkin make

Running the tests

Bidirectional RRT algorithm in the ARM Office

• Run MobileSim

  • Select the robot model p3dx-sh-lms1xx
  • Select the map AMROffice.map

• Launch renpsm_office.launch

  • roslaunch renpsm renpsm_office.launch

• In the Rviz GUI, select a navigation goal to see the visualization

Bidirectional RRT algorithm in a virtual environment

• Run MobileSim

  • Select the robot model p3dx-sh-lms1xx
  • Select the map map1.map

• Launch renpsm_rrt.launch

  • roslaunch renpsm renpsm_rrt.launch

• In the Rviz GUI, select a navigation goal to see the visualization

Benchmark in a virtual environment

• Run MobileSim

  • Select the robot model p3dx-sh-lms1xx
  • Select the map map1.map

• Launch renpsm_rrt1.launch

  • roslaunch renpsm renpsm_rrt1.launch

• The benchmarking results will be shown in the standard output.

Authors

• Ignacio Perez-Hurtado - Initial development - Ignacio-Perez

License

This project is licensed under the GPL v3.0 License - see the LICENSE file for details