NAMOSIM

NAMOSIM is a robot motion planner designed for the problem of navigation among movable obstacles (NAMO). It simulates mobile robots navigating in 2D polygonal environments in which certain obstacles can be grabbed and relocated. It currently supports holonomic and differential drive motion models. A variety of agent types are implemented, including primarily our Stilman2005 baseline agent. New agents utilizing alternative algorithmic approaches can be created and plugged into the planner in a straightforward manner by implementing the Agent base class.

System Requirements

• Ubuntu 22.04
• ROS2 Humble

Setup

First, clone the repo.

Next, use rosdep to install the dependencies listed in the package.xml file:

rosdep install --from-paths . -r -y

If any of the python dependencies fail to install with rosdep you can try to install them with pip instead:

pip install -r requirements.txt

Examples

The best way is to open the repo in VSCode and use the python test explorer to run the e2e tests.

Alternativley you can launch a test from the command line like so:

python3 -m pytest tests/e2e/e2e_test.py::TestE2E::test_social_dr_success_d

Run a Basic Scenario and Visualize in RVIZ

The following example runs the most basic scenario with the (Stillman,2005) algorithm and assumes you have ROS2 and RViz2 installed.

Start rviz2:

rviz2 -d rviz/basic_view.rviz

Then, in a new terminal, run:

python3 -m pytest tests/e2e/e2e_test.py::TestE2E::test_social_dr_success_d

Run Unit Tests

./scripts/test_unit.sh

Documentation

You can find the docs site here.

To build the docs site locally, run:

./scripts/make_docs.sh

Authors

• Benoit Renault
• Jacques Saraydaryan
• David Brown
• Olivier Simonin

Affiliated Teams and Organisations

	Org/Team
	Inria
	INSA Lyon
	CITI Laboratory
CHROMA	CHROMA Team

Cite Us

If you reuse any of the provided data/code, please cite the associated papers:

```bibtex @inproceedings{renault:hal-04705395, TITLE = {{Multi-Robot Navigation among Movable Obstacles: Implicit Coordination to Deal with Conflicts and Deadlocks}}, AUTHOR = {Renault, Benoit and Saraydaryan, Jacques and Brown, David and Simonin, Olivier}, URL = {https://hal.science/hal-04705395}, BOOKTITLE = {{IROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems}}, ADDRESS = {Abu DHABI, United Arab Emirates}, PUBLISHER = {{IEEE}}, PAGES = {1-7},

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