Arbitration Graphs

Arbitration graphs combine simple atomic behavior components into more complex behaviors for decision-making and behavior generation

Demonstration

We are currently working on a demonstration of this library using Pac-Man as an example application.

Feel free to take a look at the work in progress in the pacman-demo branch.

Installation

First, clone this repository:

git clone https://github.com/KIT-MRT/arbitration_graphs.git
cd arbitration_graphs

Using Docker image

We provide a Dockerfile with the library already installed globally.

In the source directory, build and run the docker image with docker compose:

docker compose build
docker compose run --rm arbitration_graphs

The library is installed in the Docker image under /usr/local/include/arbitration_graphs/ and /usr/local/lib/cmake/arbitration_graphs/. So, it can be easily loaded with CMake:

find_package(arbitration_graphs REQUIRED)

Building from source using CMake

First make sure all dependencies are installed:

glog
Googletest (only if you want to build unit tests)
yaml-cpp
util_caching

See also the Dockerfile for how to install these packages under Debian or Ubuntu.

Compile and install the project with CMake:

mkdir -p arbitration_graphs/build
cd arbitration_graphs/build
cmake ..
cmake --build .
sudo cmake --install .

Development

Using Docker image

Follow the steps above to setup the Docker image. Then, run the development image.

docker compose -f docker-compose.devel.yaml build
docker compose -f docker-compose.devel.yaml run --rm arbitration_graphs_devel

This mounts the source into the container's /home/blinky/arbitration_graphs folder. There, you can edit the source code, compile and run the tests etc.

Compiling unit tests

In order to compile with tests define BUILD_TESTS=true

mkdir -p arbitration_graphs/build
cd arbitration_graphs/build
cmake -DBUILD_TESTS=true ..
cmake --build .

Run all unit tests:

find -executable -type f -name '*-gtest-*' -exec {} \;