Installation

• Download and compile EMOA* by following the instructions there. The downloading directory is suggested to be "../public_emoa" with respect to the directory of this readme file. Otherwise, context.py may need to be changed to get this package running (not tested).

• Install cyipopt by following the section "On Ubuntu 18.04 Using APT Dependencies".

• Install opty by pip3 install opty

• Run pip3 install for any missing packages, e.g. sympy.

• File run_example.py provides an entry point to the PWTO implementation.

Run SImulation

• Create a separate workspace and copy the "/src" folder in "/simulation_pkg" to your workspace.

• Build the packages in the workspace.

• Change the uri link in "/src/bring_up/world/random32_map.world" to your local path.

• run the simulation by roslaunch bring_up rosbot_bringup_random32.launch to launch Gazebo and Rviz.

• run the trajectory tracking by roslaunch bring_up rosbot_traj_tracking.launch.

• To plot the trajectory tracking results, run python3 plot_traj.py. Change the 'traj_load_path' and 'traj_save_path' if necessary.