Manhattan Simulator

This is a repository for generating random Manhattan-World-style 2D experiments.

While custom measurements are easy to add, currently supported measurement types include:

• robot odometry measurements
• pose-pose and pose-landmark loop closures (measurements are SE(2) measurements)
• pose-pose and pose-landmark range measurements
• ambiguous loop closures and ambiguous range measurements (the measurements above, but with uncertainty on the data association)

Getting Started

Please look in our example/ directory to see how to use this module to generate experiments.

Our Manhattan Simulator depends on our PyFactorGraph module, so you will need to install PyFactorGraph via:

git clone git@github.com:MarineRoboticsGroup/PyFactorGraph.git
cd PyFactorGraph
pip install .

Contributing

This repo is set up so that contributions will have consistent style and pass some static type checks. The code styling is enforced through black, and helps to improve the cleanliness, consistency, and readability of commits.

The static type checking is performed by mypy and helps to prevent bugs by ensuring that object type expectations are being maintained. In addition, it requires thoughtful type-annotation to improve the readability and maintainability of the code in the future.

We run these through both Github Actions and the pre-commit framework, which allow us to check our code before committing and then perform some quality tests on the code once it has been committed. Github Actions does not require any further setup to be used, the tests will be run when the code is pushed.

The pre-commit framework lets you make sure the tests will pass before pushing the code. To set it up and use it all you need to do is run the following commands:

# install pre-commit
pip3 install pre-commit
pre-commit install # must run this command in the root of this repo

Now, when you try to make a commit, pre-commit will run a series of tests that must be passed. In the event that the code can be easily changed, mostly in the case of reformatting, pre-commit will often make the change for you. From here you can just run git diff to see the changes made, verify they're correct, add the changes, and attempt the recommit.