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rayvburn / srpb

A source code and the toolkit accompanying the paper "Quantitative Metrics for Benchmarking Human-Aware Robot Navigation"
BSD 3-Clause "New" or "Revised" License
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benchmark navigation planning robot-navigation robotics ros social-robotics

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srpb

The repository contains the source code of the SRPB - Social Robot Planners Benchmark - a benchmark that allows for quantitative evaluation of robot navigation performance and social aspects.

Graphical abstract

The corresponding package that allows logging data while the robot is navigating (using ROS1 navigation stack) is available at srpb_move_base.

A detailed description of metrics computation formulas is presented in the article Quantitative metrics for benchmarking human-aware robot navigation.

If you are using this benchmark in your research, please cite it as:

@article{karwowski2023quantitative,
  author={Karwowski, Jarosław and Szynkiewicz, Wojciech},
  journal={IEEE Access},
  title={Quantitative Metrics for Benchmarking Human-Aware Robot Navigation},
  year={2023},
  volume={11},
  number={},
  pages={79941-79953},
  doi={10.1109/ACCESS.2023.3299178}
}

Installation

Follow the steps below to clone SRPB-related packages:

cd <WS_DIR>/src
git clone --recurse-submodules https://github.com/rayvburn/srpb.git -b melodic-devel srpb/srpb
rosinstall -n . srpb/srpb/srpb.rosinstall

Usage

A log file is saved once the goal is reached by the srpb_move_base node. Renewing the goal pose before reaching the previous one does not cause the files to be divided into parts.

TBD...

Acknowledgments

The foundation of this package is MRPB: Mobile Robot Local Planning Benchmark. There might be some shared sections of code, but overall, the original package has undergone a major overhaul.

Contributing

Feel free to share your ideas, suggestions in Issues. Contributing to the code development is also appreciated.