AAMA-Sim

A multi-agent enhanced simulation tool can leverage programming abstraction by empowering the development, validation, and system realization phases. The software agent code used in the simulation can also be reused for the physical implementation, as the agent paradigm provides higher-level programming and modularisation for the target system.

Demonstration

AAMA-Sim Introduction

Warehouse agent simulation demo

Installation

• Create a ROS2 Workspace

   cd ~
   mkdir -p ros2_ws/src && cd ros2_ws
  

• Clone AAMA-Sim Repository into src of ROS2 Workspace

   cd ~/ros2_ws/src
   git clone https://github.com/micss-lab/AAMA-sim.git
  

• Please install the requirements. Follow here.

• Build the ROS2 Workspace

   cd ~/ros2_ws
   colcon build
  

• Add the ROS2 Workspace and Gazebo Model Path to Bashrc

   echo "source /opt/ros/humble/setup.bash" >> ~/.bashrc
   echo "source ~/ros2_ws/install/local_setup.bash" >> ~/.bashrc
   echo "export IGN_GAZEBO_RESOURCE_PATH=:~/ros2_ws/src/AAMA-sim/models" >> ~/.bashrc
   source ~/.bashrc
  

How to Use AAMA-Sim

How to Run Multi Robot Simulation

• Run with Multiple Robots. This Launch file will open a Gazebo instance with 2 Robot instances in Warehouse world by default.

   ros2 launch aama_sim aama_sim.launch.py
  

  • Make Sure RabbitMQ Docker Container is up and running. If not use commands below to create a RabbitMQ container.
  • Dont forget to click the play button on the bottom left of Gazebo window.

How to Change Robot Count and World Environment in Simulation

• In order to change the number of robots in the simulation you have to add some command line arguments to the launch file.

   ros2 launch aama_sim aama_sim.launch.py world_name:='house' robot_count:=4
  

  to get the detailed description of the arguments you can use the following command.

   ros2 launch aama_sim aama_sim.launch.py -s
  

World Environments

• Available World Environments
  • Warehouse
  • House
  • Empty

How to Modify the Simulation Environment

The worlds in AAMA-sim is defined by the SDF World standard. To modify the simulation environment, you can modify the respective world file under the worlds folder in the AAMA-sim package.

Developers can add/remove models, change the lighting, and modify the physics properties of the world. By following the Gazebo Sim documentation.

How to Modify the Robot Model

The robot model in AAMA-sim is defined by the SDF Model standard. To modify the robot model, you can modify the aama_robot.sdf file under the models/aama_robot folder in the AAMA-sim package.

Developers can add/remove sensors, change the physical properties, and modify the visual properties of the robot model. By following the Gazebo Sim documentation.

However, after adding a new sensor, you need to implement a sensor interface in the AAMA-sim package to publish the sensor data to the RabbitMQ message broker. In order to be able to publish the sensor data to the RabbitMQ message broker, you need to create a new RabbitMQ message queue and publish the sensor data to the created message queue. You can check the existing sensor interfaces in the AAMA-sim package to implement a new sensor interface.

An example empty sensor interface is provided in the AAMA-sim package under aama_sim/simulation_interface/empty_sensor_interface.py to help you implement a new sensor interface.

Sensor and Control Messages

Available Sensors

Sensor Name	ROS Topic	RabbitMQ Topic
IMU	/imu	imu
Sonar	/sonar	sonar
UWB	/model/{robot_name}/pose_static	uwb
Logical Camera	Not Available	Not Available
Camera	Not Available	Not Available
LIDAR	Not Available	Not Available

Robot Control Message

• RabbitMQ Message Queue Name: /robot_ctrl
• Message Type: RobotMsgs/RobotControl.java (Check here)
• Message Format:

  [
    {
      "robot_id": "0",
      "orientation": { // All angles here are in degrees
        "x": 0.0, // Angular Speed in X axis
        "y": 0.0, // Angular Speed in Y axis
        "z": 0.0 // Angular Speed in Z axis
      },
      "position": {
        "x": 1.0, // Linear Speed in X axis
        "y": 0.0, // Linear Speed in Y axis
        "z": 0.0 // Linear Speed in Z axis
      }
    },
    {
      "robot_id": "1",
      "orientation": { // All angles here are in degrees
        "x": 0.0, // Angular Speed in X axis
        "y": 0.0, // Angular Speed in Y axis
        "z": 0.0 // Angular Speed in Z axis
      },
      "position": {
        "x": 1.0, // Linear Speed in X axis
        "y": 0.0, // Linear Speed in Y axis
        "z": 0.0 // Linear Speed in Z axis
      }
    }
  ]

IMU Sensor Message

• RabbitMQ Message Queue Name: /imu
• Message Type: RobotMsgs/IMU.java (Check here)
• Message Format:

  [
    {
      "header": {
        "stamp": {
          "sec": 10,
          "nanosec": 0
        },
        "frame_id": "aama_robot_0"
      },
      "orientation": {
        "x": -6.108140001604861e-16,
        "y": -3.5351844305974787e-10,
        "z": 2.375124229387805e-19,
        "w": 1
      },
      "angular_velocity": {
        "x": 1.1611069558308134e-16,
        "y": 1.3836152168523395e-16,
        "z": -3.8590286387421885e-19
      },
      "linear_acceleration": {
        "x": 6.9291450541440105e-9,
        "y": -1.0794232937611885e-14,
        "z": 9.800000000000258
      }
    },
    {
      "header": {
        "stamp": {
          "sec": 10,
          "nanosec": 0
        },
        "frame_id": "aama_robot_3"
      },
      "orientation": {
        "x": -6.107806083661822e-16,
        "y": -3.535184430412162e-10,
        "z": -2.7722177154154196e-19,
        "w": 1
      },
      "angular_velocity": {
        "x": 1.1740794738697006e-16,
        "y": 1.4013788152360746e-16,
        "z": -7.58844641920445e-20
      },
      "linear_acceleration": {
        "x": 6.928961606773204e-9,
        "y": -1.3134548269889717e-14,
        "z": 9.800000000000002
      }
    }
  ]

Sonar Sensor Message

• RabbitMQ Message Queue Name: /sonar
• Message Type: RobotMsgs/Sonar.java (Check here)
• Message Format:

  [
    {
      "header": {
        "stamp": {
          "sec": 1221,
          "nanosec": 0
        },
        "frame_id": "aama_robot_2"
      },
      "angle_min": 0,
      "angle_max": 0,
      "angle_increment": "NaN",
      "time_increment": 0,
      "scan_time": 0,
      "range_min": 0.07999999821186066,
      "range_max": 10,
      "ranges": [ // All distances are in meters. If no obstacle is detected, the distance is 11 meters.
        11
      ],
      "intensities": [
        0
      ]
    },
    {
      "header": {
        "stamp": {
          "sec": 1220,
          "nanosec": 900000000
        },
        "frame_id": "aama_robot_3"
      },
      "angle_min": 0,
      "angle_max": 0,
      "angle_increment": "NaN",
      "time_increment": 0,
      "scan_time": 0,
      "range_min": 0.07999999821186066,
      "range_max": 10,
      "ranges": [
        11
      ],
      "intensities": [
        0
      ]
    }
  ]

UWB Sensor Message

• RabbitMQ Message Queue Name: /uwb

• Message Type: RobotMsgs/UWB.java (Check here)

• Message Format:

  [
    {
      "robot_id": "1",
      "header": {
        "stamp": {
          "sec": 2,
          "nanosec": 720000000
        },
        "frame_id": "aama_robot_1"
      },
      "orientation": {
        "x": -180,
        // All angles here are in degrees
        "y": 0,
        "z": 0
      },
      "position": {
        "x": 0,
        // All distances are in meters
        "y": 12,
        "z": 0.375
      }
    },
    {
      "robot_id": "3",
      "header": {
        "stamp": {
          "sec": 2,
          "nanosec": 720000000
        },
        "frame_id": "aama_robot_3"
      },
      "orientation": {
        "x": -180,
        "y": 0,
        "z": 0
      },
      "position": {
        "x": 4,
        "y": 0,
        "z": 0.375
      }
    }
  ]

Useful Links

Examples in AAMA-Sim

• Example JADE Agents for AAMA-Sim

Different worlds to import

• https://github.com/mlherd/Dataset-of-Gazebo-Worlds-Models-and-Maps?tab=readme-ov-file
• https://automaticaddison.com/useful-world-files-for-gazebo-and-ros-2-simulations/#Worlds

Different Robots to import:

• https://emanual.robotis.com/docs/en/platform/turtlebot3/simulation/