This repository provides setup instructions, dependencies installation, and usage guide for running the simulation package with ROS 2.

---

Table of Contents

1. Prerequisites

2. Installation

   • System Dependencies
   • Python Packages
   • Open Motion Planning Library (OMPL)
   • ACADO Toolkit

3. Building the Package

4. Usage Guide

---

Prerequisites

• Ubuntu 22 or later
• ROS 2 (Foxy, Galactic, or Humble) installed and sourced
• cmake, git, and build-essential packages

---

Installation

System Dependencies

Update package lists and upgrade existing packages:

sudo apt update && sudo apt upgrade -y

Install development libraries:

sudo apt install -y \
    libopencv-dev \
    libboost-all-dev \
    libompl-dev ompl-demos \
    libeigen3-dev

Python Packages

Install required Python modules:

pip install numpy matplotlib scikit-learn opencv-python scipy pygame pyserial

Open Motion Planning Library (OMPL)

Download and run the OMPL installation script:

wget https://ompl.kavrakilab.org/install-ompl-ubuntu.sh
chmod u+x install-ompl-ubuntu.sh
./install-ompl-ubuntu.sh

ACADO Toolkit

Clone, build, and install ACADO:

git clone https://github.com/acado/acado.git
cd acado
mkdir build && cd build
cmake ..
make
sudo make install

# Ensure the library path is updated
export LD_LIBRARY_PATH=/usr/local/lib:$LD_LIBRARY_PATH

---

Building the Package

In your ROS 2 workspace (e.g., ~/decision_module), build :

cd ~/DecisionModule
colcon build
source install/setup.bash

---

Usage Guide

Launching the Simulation

Launch the full simulation environment:

ros2 launch simulation_pkg decision.launch.py

Running the Decision Node

Run only the decision node:

ros2 run simulation_pkg decision

---

Joystick Controller

The joystick controller allows you to manually steer opponent bots during simulation. Setup is provided by an external repository:

• Joystick setup instructions and configuration files: Joystick Setup Repository

1. Install and configure the joystick package following the steps in the linked repository.

2. Run the joystick controller node:

   ros2 run simulation_pkg joystick_controller

3. Run the server:

   ./start.sh 

4. Connect multiple joystick apps to control multiple bots simultaneously—each instance will drive a separate bot.

5. Controller layout:

   • Refer to the screenshot below and configure your controller as shown.
   • The upper button on the joystick can be used to switch control to the currently active bot.

---

License & Acknowledgments

• Original dependencies and scripts provided by the OMPL and ACADO teams.