reachability_space_generation

Define the dimensions and resolution of the reachability space, then upload the tasks to database.

• Set the ranges for sampling the robot workspace in a yaml file placed in the configs folder.
• Run python upload_reachability_tasks.py robot.yaml to upload all the incomplete tasks to the database.

Get multiple instances of the worker to download tasks from the database and upload the results when done.

• Create bash script in the launch folder that will launch one instance of the worker for generating the reachability space. See launch_fetch_space_generation.sh
• Create another script to run multiple instances of the script created in the previous step. See launch_all.sh.
• Note that you should specify the number of instances to launch based on the capacity of the machine you're using.

Running

source ../../../devel/setup.bash
./launch_all.sh

Download completed reachability space from database

• Run download_mongo_db.py with three positional args:
  • INCOMPLETE_TASK_COLLECTION_NAME e.g robot_tasks_to_do
  • FINISHED_TASK_COLLECTION_NAME e.g. robot_tasks_finished
  • OUTPUT_FILE e.g. robot_dense_reachability.csv

python download_mongo_db.py robot_tasks_to_do robot_tasks_finished robot_dense_reachability.csv

Generate random query poses and reachability checks to file

source devel/setup.bash
roslaunch reachability_space_generation fetch_moveit.launch

source devel/setup.bash
cd src/reachability_space_generation/scripts/reachability_space_generation/
python generate_random_query_reachability_data.py fetch22.yaml 100

Note that yaml file (e.g. fetch22.yaml) contains the robot's workspace specification as above while the second argument (integer e.g. 100) specifies the number of random query poses to generate