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INCOPT

This repo contains the source code for the IROS 2022 paper InCOpt: Incremental Constrained Optimization Using the Bayes Tree

This repo contains all modifications to the core GTSAM library (INCOPT) as well as python scripts/wrappers to run the examples

Note: The instructions below will install the included GTSAM library system wide (replacing any existing installation)

ANACONDA ENVIRONMENT

Create a virtual python environment using Anaconda:

conda create -n incopt python=3.7
conda activate incopt

PYTHON PACKAGES

pip install pyparsing
pip install pybind 
pip install matplotlib
pip install colorama
pip install hydra-core --upgrade

(pip version 20.0.2 might be required for pybind: pip install pip==20.0.2)

GTSAM INSTALLATION

Please make sure to install all of GTSAM prerequisites: https://gtsam.org/get_started/

From the root directory:

  cd gtsam 
  mkdir build 
  cd build
  cmake -DGTSAM_BUILD_PYTHON=ON -DGTSAM_PYTHON_VERSION=3.7 -DGTSAM_BUILD_UNSTABLE=OFF -DGTSAM_WITH_TBB=OFF ..

GTSAM C++ PYTHON WRAPPER

From the root directory:

  cd wrap 
  mkdir build 
  cd build
  cmake ..
  make -j4 
  sudo make install

INSTALLING INCOPT PACKAGES

From the root directory:

  mkdir build
  cd build
  cmake ..

Install all modules:

From the root directory:

  sudo ./rebuild_all.sh

Running the python examples

2D Navigation

The configuration file is located python/config/navigation_2D.yaml

From the root directory:

  cd python/examples/navigation_2D
  python navigation2D.py

The plots of the trajectories at each time step will be saved in python/figures/navigation_2D/trajectories

2D Planar Pushing

The configuration file is located python/config/push_estimation_pybullet.yaml

From the root directory:

  cd python/examples/navigation_2D
  python navigation2D.py

The plots of the trajectories at each time step will be saved in python/figures/navigation_2D/trajectories

3D Planning

The configuration file is located python/config/arm3_planning_obstacles.yaml

From the root directory:

  cd python/examples/path_planning
  python arm3_wam_planning_obstacles.py

The plots of the planned trajectories at each step and cost_sigma value will be saved in python/figures/path_planning/3D/solution