knr-auv/autonomy

knr-auv/autonomy is a software for the development of a behavior tree-based autonomy module for the OKOŃ AUV built by KNR AUV team.

Behavior Tree Editor

Behavioral tree projects placed in the BTs directory can be opened/edited using the Behavior Tree Visual Editor.

Links to JSON files with projects of Behavior Trees:

• Qualification Task Behavior Tree

py_trees

Demo files useful for implementaion software using py_trees library can be found in the official repository.

Usage

Creating Conda Environment with Dependencies (Python)

1. Create Conda Environment and Install Dependencies

   conda env create -f environment.yml

2. Activate Conda Environment

   conda activate okon-autonomy

Updating Dependencies (Python) - if environment.yml file changed

1. Activate Conda Environment

   conda activate okon-autonomy

2. Update Conda Environment Dependencies

   conda env update -f environment.yml --prune

Running Qualification Task Behavior Tree

1. Run Okon.exe file (simulation-2.3dev)

2. Activate Conda Environment

   conda activate okon-autonomy

3. Move AUV to starting position

   python go_to_starting_line.py

4. Run Behavior Tree

   python qualification_task_behavior_tree.py