kei18 / mapf-ir Goto Github PK

Iterative Refinement for Real-Time Multi-Robot Path Planning (IROS-21)

Home Page: https://kei18.github.io/mapf-IR

License: MIT License

CMake 0.84% C++ 87.62% Shell 9.96% Makefile 0.16% Python 1.41%

multi-agent-path-finding iterative-refinment pibt multi-robot-path-planning mapf

mapf-ir's Introduction

Hi there 👋, I'm Keisuke Okumura, a researcher in AI & robotics, planning, and multi-agent systems. My research focuses on controlling multiple moving agents. More info? Check out my website.

selected projects

quick pathfinding

planning with uncertainties

with flavor of motion planning

research utils

mapf-ir's People

Contributors

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mors25 albaintelligence mfkiwl qwerty35 mengxingshifen1218 bladesaber qcz01 timityjoe tanjpg inspiration-lynn squirel2000 gaosz0755 b39b332d noobyzero dtbinh 1017398232

mapf-ir's Issues

error: ‘dummy’ may be used uninitialized StackLowerThanAddress(&dummy, &result);

Ubuntu 22.04, gcc version 11.3.0
I got this error during the compilation:

[ 25%] Linking CXX executable app
[ 25%] Built target app
[ 26%] Building CXX object third_party/googletest/googlemock/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o
In file included from /home/ljaniec/mapf-IR/third_party/googletest/googletest/src/gtest-all.cc:42:
/home/ljaniec/mapf-IR/third_party/googletest/googletest/src/gtest-death-test.cc: In function ‘bool testing::internal::StackGrowsDown()’:
/home/ljaniec/mapf-IR/third_party/googletest/googletest/src/gtest-death-test.cc:1224:24: error: ‘dummy’ may be used uninitialized [-Werror=maybe-uninitialized]
 1224 |   StackLowerThanAddress(&dummy, &result);
      |   ~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~

I checked out to the main branch in the thirdparty/googletest like in this SO answer and I could build everything correctly

Errors encountered when running `build_macos.sh` on OS X 11.4

Hi, there. I was trying to build the visualizer on my mac. It seems that the 5th line of build_macos.sh bash ./scripts/osx/download_libs.sh -v 0.11.0 should be bash ./scripts/dev/download_libs.sh -v 0.11.0 since there is no folder named osx. I fixed it and it worked fine but failed when running make build in visualizer folder. I got the following error:

make: *** No rule to make target `/Users/vodkasoul/mapf-IR/visualizer/../third_party/openFrameworks/libs/openFrameworksCompiled/project/makefileCommon/compile.project.mk'.  Stop.

I couldn't find a openFrameworksCompiled folder and I am wondering if there was something went wrong in previous steps.

bash visualizer error

hi, I had some error when I use commend 'bash ./visualizer/scripts/build_macos.sh '

can you help me to solve this problem, thanks!

and have python code for this, thanks!

such as :
Uncompressing libraries osx from openFrameworksLibs_master_osx2.tar.bz2
Uncompressing libraries osx from openFrameworksLibs_master_osx3.tar.bz2
Uncompressing libraries osx from openFrameworksLibs_master_osx4.tar.bz2
Copying opencv to ofxOpenCv
Copying libusb to ofxKinect
Copying assimp to ofxAssimpModelLoader
Copying libxml2 to ofxSvg
Copying svgtiny to ofxSvg
Copying poco to ofxPoco
Copying openssl to ofxPoco
Package gstreamer-app-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-app-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-app-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package gstreamer-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package gstreamer-video-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-video-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-video-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package gstreamer-base-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-base-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-base-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package alsa was not found in the pkg-config search path.
Perhaps you should add the directory containing alsa.pc' to the PKG_CONFIG_PATH environment variable Package 'alsa', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package gstreamer-app-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-app-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-app-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package gstreamer-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package gstreamer-video-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-video-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-video-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package gstreamer-base-0.10 was not found in the pkg-config search path.
Perhaps you should add the directory containing gstreamer-base-0.10.pc' to the PKG_CONFIG_PATH environment variable Package 'gstreamer-base-0.10', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
Package alsa was not found in the pkg-config search path.
Perhaps you should add the directory containing alsa.pc' to the PKG_CONFIG_PATH environment variable Package 'alsa', required by 'virtual:world', not found /bin/sh: line 0: return: can only return' from a function or sourced script
/home/project/MAPF/mapf-IR/visualizer/../third_party/openFrameworks/libs/openFrameworksCompiled/project/makefileCommon/config.shared.mk:305: *** couldn't find gstreamer-app-0.10 gstreamer-0.10 gstreamer-video-0.10 gstreamer-base-0.10 alsa 0 pkg-config package or it's dependencies, did you run the latest install_dependencies.sh?. Stop.

Segmentation fault / `cannot create std::vector larger than max_size()` for my example map and instance

Hello,

I tried to use this project with this map:

type octile
height 66
width 80
map
TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT
...................................................TTTTTTTTTTTTTTTTTTTTTTTTTTTTT
...................................................TTTTTTTTTTTTTTTTTTTTTTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTTTTTTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTTTTTTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTT..TTTT..TTTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTT..TTTT..TTTTTTTTTT
TTTTT.....TTTTT...TT...TTTTTTTTTTTTTT...TTTTT..TT..TTTTTTTTTTT.TTTTTT.TTTTTTTTTT
TTTTT.....TTTTT........TTTTTTTTTTTTTT...TTTTT......TTTTTTTTTTT.TTTTTT.TTTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTT.TTTTTT.TTTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTT.TTTTTT.TTTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT......................TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT......................TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTT.....TTTTT........TTTTTTTTTTTTTT...TTTTT......TTTTTTTTTTTTTTTTTT.......TTTT
TTTTT.....TTTTT...TT...TTTTTTTTTTTTTT...TTTTT..TT..TTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT.......TTTT
TTTTT.....TTTTT........TTTTTTTTTTTTTT...TTTTT......TTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTT.....TTTTT...TT...TTTTTTTTTTTTTT...TTTTT..TT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT.......TTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTT.....TTTTT...TT...TTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTT.....TTTTT........TTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTTT.TTTTTTTTTTTTTTT.TTTTTTTTTTT..TTTTTTTTTTTTTTTTTT.......TTTT
TTTTTTT.TTTTTTTTTTTT...............................TTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTTTT.TTTTTTTTTTTT...............................TTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTT.....TTTTT...TT...TTTTTTTTTT.TTT.TTTTT.TTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTT.....TTTTT........TTTTTTTTTT.TTTT.TTTT.TTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTT.TTTT.TTTT.TTTTTTTTTTTTTTTTTTTTTTTTT.......TTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTT.TTTT.TTTT.TTTTTTTTTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTT.TTTT.TTTT.TTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTT..TTT..TTT..TTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTT..TTT..TTT..TTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTT.....TTTTT........TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT.......TTTT
TTTTT.....TTTTT...TT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT.......TTTT
TTTTT.....TTTTT........TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTT.....TTTTT...TT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT.......TTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTT..TTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTTTTTT.TTTTTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
.......................TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT.......TTTT
.......................TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTT..TTTT
TTT.TTTTTT.TTTTTTTTT...TTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTTTTT
TTT.TTTTTT.TTTTTTTTT...................................................TTTTTTTTT
TTT.TTTTTT.TTTTTTTTT...................................................TTTTTTTTT
TTT.TTTTTT.TTTTTTT..TTTTTTTTTT.TTTTTT.TTTTTTT.TTTTTT.TTTTT.TTTTTT.TTTT..TTTTTTTT
TTT..TTTT..TTTT...TTTTTTTTTTTT.TTTTTT.TTTTTTT.TTTTTT.TTTTT.TTTTTT.TTTT.T..TTTTTT
TTT..TTTT..TTTT...TTTTTTTTTTTT.TTTTTT.TTTTTTT.TTTTTT.TTTTT.TTTTTT.TTTT.TT..TTTTT
TTTTTTTTTTTTTTTTTTTTTTTTTTTTTT.TTTTTT.TTTTTTT.TTTTTT.TTTTT.TTTTTT.TTTTT.TTT.TTTT
TTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTT..TTTTT..TTTTTT..TTTT..TTTT..TTTT..TTTT...T
TTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTT..TTTTT..TTTTTT..TTTT..TTTT..TTTT..TTTTT..T
TTTTTTTTTTTTTTTTTTTTTTTTTTTTT..TTTTTT..TTTTT..TTTTTT..TTTT..TTTT..TTTT..TTTTT..T

and this instance file:

## ==== necessary ====
## .map file, put your maps in /map folder
map_file=warehouse.map

## number of agents
agents=10

## ==== custom =======
## seed of randomization
seed=0

## 1  -> random starts/goals
## 0 -> use custom starts/goals
random_problem=0

## timestep limit
max_timestep=500

## computation time limit, ms
max_comp_time=300000

But I got errors like these:

just a Segmentation Fault

Segmentation fault (core dumped)

cannot create std::vector larger than max_size()

For different parameters I got it to work, but I wonder what went wrong there.

Visualiser for Ubuntu

How do I get the visualiser running for ubuntu? Could you please help me with this?

integrate files of several IR solvers

e.g., { ir_single_paths.hpp, ir_bottleneck.hpp } -> ir.hpp