autonomouscabs

Setup

Install packages

Debian 11 (Bullseye), Ubuntu 20.04 (Focal Fossa)

`cmake g++ libboost-all-dev gnat gprbuild libaunit19-dev`

Debian 10 (Buster), Ubuntu 19.10 (Eoan Ermine)

`cmake g++ libboost-all-dev gnat gprbuild libaunit18-dev`

FreeBSD 12, FreeBSD 13 (backend only)

`cmake boost-libs`

Note

Unfortunately, Ubuntu 18.10 (Bionic Beaver) is not supported due to outdated boost packages. Compiling boost is an alternative, but not covered in this README. For the following make calls, feel free to add -jX (where X is the amount of CPU cores + 1) for using multiple cores for compiling.
Also the Boost library is used in the backend and the webots controller.

Create backend Makefile

`mkdir build`
`cd build`
`cmake ..`

Build backend and C++ tests

`cd build`
`make`

Build external controller

`cd external`
`make`

Build webots controller

`cd webots/controllers/controller`
`make`

Alternatively compile in webots directly.

Run

backend

`./backend.bin --help`

To add a new request write to the console:

`P<x> P<y> <k>`

where P<x> is the source and P<y> the destination pickup location and <k> the amount of passengers. <k> is limited to 4.

external_controller

For each cab run

`./main {webots_address} {webots_port} {backend_address} ({backend_port})`

Backend port is optional. If not set the default port is used.

webots controller

For each robot node specify the port in controllerArgs.

Note

Th simulation will only start if every robot has a connection with an external controller. If a robot is not needed for a test just leave the controllerArgs field empty.