Package containing ROS nodes and library(ies) to facilitate the use and development of POMDPs.
Throughout this document, [WORKSPACE_ROOT] is used for the root directory of the catkin workspace.
| pomdp | C++ classes implementing and using POMDPs. |
| pomdp_node | ROS nodes and using POMDPs. |
| pomdp_reasoning | (TODO) Reasoning and learning using POMDPs. |
| pomdp_run | For running a single POMDP. |
| oracle_irl | Inverse reinforcement learning of policy using human oracle. |
| dialogue_irl | Inverse reinforcement learning of policy using dialogue system output. |
A copy of A. Cassandra's pomdp-solve is required. This software was developed using version 5.3. A copy of libmdp must be compiled from the source. Download and documentation at: http://www.pomdp.org/code/index.shtml .
To compile, src/pomdp/src/CMakeLists.txt must be updated with the correct location of libmdp:
- LIB_POMDP_SOLVE_INCLUDE_DIR should contain a path to pomdp-solve/src
Compile with the following, run from [WORKSPACE_ROOT]:
$ catkin_make
To allow ROS tools to find package directories, add the following line to your ~/.bashrc file:
source [WORKSPACE_ROOT]/devel/setup.bash
(If rospack find, roscd, and other tools send you to [WORKSPACE_ROOT]/build/repo/package/catkin_generated/stamps/package, then you should remove paths from $ROS_PACKAGE_PATH that include parent directories of [WORKSPACE_ROOT].)
ros_pomdp uses Doxygen run through rosdoc_lite to automatically build its documentation. To do so, run the following commands from [WORKSPACE_ROOT]:
$ rosdoc_lite src/pomdp
$ rosdoc_lite src/pomdp_node
Documentation will be generated under [WORKSPACE_ROOT]/doc. The following index files provide good starting places:
Index to node-level interface (messages and services).
[WORKSPACE_ROOT]/doc/html/index-msg.html
Index of APIs for each package. (Links do not work in local browsing/if directories don't default to 'index.html', and currently only contains the last generated package.)
[WORKSPACE_ROOT]/doc/html/index.html
Index of package APIs.
[WORKSPACE_ROOT]/doc/html/pomdp/index.html[WORKSPACE_ROOT]/doc/html/pomdp_node/index.html
Compile tests with (from [WORKSPACE_ROOT]):
$ catkin_make tests
Run tests with:
$ catkin_make run_tests
If rostests (node level) fail because roscore is already running, force a single job. (This bug will be fixed in next ROS release.)
$ catkin_make run_tests -j1