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Morse Simulation

Overview

morse_simulation is a simulation environmet based on docker and docker-compose used to run multi-robot experiments ROS+Morse in the Software Engineering Lab (LES) at University of Brasilia.

Keywords: simulation, multi-robot, mobile robots, simulation environment, morse, ROS

License

The source code is released under a MIT license.

Authors: Gabriel F P Araujo, Gabriel Rodrigues and Vicente Moraes
Affiliation: LES
Maintainers: Gabriel F P Araujo, Gabriel Rodrigues and Vicente Moraes

morse_simulation has been tested under Ubuntu 20.04, Docker 20.10.7 and docker-compose 1.29.2. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Execution Pipeline

Build

Dependencies

Clone this repository to your workspace and build the images.

git clone https://github.com/lesunb/morse_simulation
git submodule update --init --recursive
docker-compose build

Usage

Run the main node with

python3 run_simulation.py

Config files

  • trials.json Defines a list of scenarios to be tested
  • docker-compose.yaml docker-compose yaml configuration file used to start a simulation
  • sim.env configures the environment variables shared between all conteiners