# RoboRTS

**Repository Path**: hahabug/RoboRTS

## Basic Information

- **Project Name**: RoboRTS
- **Description**: An open source software stack for Real-Time Strategy research on mobile robots
- **Primary Language**: C++
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-12-08
- **Last Updated**: 2024-06-04

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# RoboRTS
[![Build Status](https://travis-ci.org/RoboMaster/RoboRTS.svg?branch=master)](https://travis-ci.org/RoboMaster/RoboRTS)
[![Gitter](https://badges.gitter.im/RoboMaster/RoboRTS.svg)](https://gitter.im/RoboMaster/RoboRTS?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge)

RoboRTS is an open source software stack for Real-Time Strategy research on mobile robots, developed by RoboMaster. The Real-Time Strategy research that we focus on is multi-agent deep reinforcement learning based decision making.

The motivation for this project is [RoboMaster AI Challenge](https://icra2018.org/dji-robomaster-ai-challenge/). In this robot challenge, multiple robots should fight with each other on a game field automatically. It would be very convenient to have a unified framework for them to integrate hardware components and implement algorithms.

A modern mobile robot usually contains a simple low-level computing platform runs RT OS (Real Time Operation System) with restricted computing power but real-time output, and a strong high-level computing platform runs non-RT OS (such as Linux and Windows) which dedicates to computational intensive algorithm execution. In our system, the low-level computing platform is MCU (micro-controller), and the high-level computing platform is called the on-board computer. 

The framework of RoboRTS consists two parts: autonomous mobile robot layer and intelligent decision-making layer.

<img src="docs/images/system.png" style="zoom:80%;display: inline-block; float:middle"/>

The autonomous mobile robot layer alone can let a robot to demonstrate a certain level of intelligence. On its on-board computer runs perception, planning, decision modules, each of which contains some conventional algorithms like A* search and Lidar mapping. On its MCU, an RT low-level robot controller is implemented to govern the robot driving system. This README mainly explains the structure and functionality of this layer.

**TODO:** Intelligent decision-making layer includes a multi-agent decision-making framework and a game simulator, it will be released in the future.

## Get started

You can build a mobile robot described in [hardware_setup](docs/hardware_setup.md) document and setup embedded system mentioned in [RoboRTS-Firmware](https://github.com/RoboMaster/RoboRTS-Firmware) repository.

### Software Requirements

- ROS kinetic (Ubuntu 16.04)
- OpenCV 3.0.0 or higher
- CUDA(Optional)
- PCL
- G2O
- SuiteSparse
- Google Protocol Buffers 2.6
- Google Glog
- CMake 3.1

### Install dependencies for Ubuntu 16.04 kinetic

**Install ROS**

Please follow [the installing and configuring ROS environment tutorial](http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment) on ROS Wiki.

**Thirdparty Library**

```shell
sudo apt-get install ros-kinetic-opencv3 ros-kinetic-cv-bridge ros-kinetic-image-transport ros-kinetic-stage-ros ros-kinetic-map-server ros-kinetic-laser-geometry ros-kinetic-interactive-markers ros-kinetic-tf ros-kinetic-pcl-* ros-kinetic-libg2o protobuf-compiler libprotobuf-dev libsuitesparse-dev libgoogle-glog-dev ros-kinetic-rviz
```

### Build and Install

```shell
git clone https://github.com/RoboMaster/RoboRTS.git
cd RoboRTS/
mkdir build
cd build
cmake ..
make messages_generate_messages
make
```

Setting the RoboRTS environment variable

```bash
cd path/to/RoboRTS
echo "export ROBORTS_PATH=${PWD}" >> ~/.bashrc
source ~/.bashrc
```

### Run Examples

```shell
./tools/run_example.sh
```

<img src="docs/images/run_example.gif" style="zoom:80%"/>

## Documents

* [Hardware setup](docs/hardware_setup.md): Instruction to build a RoboMaster infantry robot.
* [Software architecture](docs/software_architecture.md): The software architecture of RoboRTS framework.
* [Protocol](docs/protocol.md): The protocol between the on-board computer and the MCU.
* [Tutorial](): Additional tutorials will be released in the future.

## Copyright and License

RoboRTS is provided under the [GPL-v3](COPYING).