matsim-berlin | The MATSim Open Berlin Scenario | Robotics library

 by   matsim-scenarios Java Version: 5.6.1 License: GPL-2.0

kandi X-RAY | matsim-berlin Summary

kandi X-RAY | matsim-berlin Summary

matsim-berlin is a Java library typically used in Automation, Robotics applications. matsim-berlin has no bugs, it has no vulnerabilities, it has build file available, it has a Strong Copyleft License and it has low support. You can download it from GitHub.

This repository provides an open MATSim transport model for Berlin, provided by the Transport Systems Planning and Transport Telematics group of Technische Universität Berlin. Please reference/cite the scenario based on this paper.

            kandi-support Support

              matsim-berlin has a low active ecosystem.
              It has 24 star(s) with 80 fork(s). There are 12 watchers for this library.
              It had no major release in the last 12 months.
              There are 5 open issues and 29 have been closed. On average issues are closed in 176 days. There are 7 open pull requests and 0 closed requests.
              It has a neutral sentiment in the developer community.
              The latest version of matsim-berlin is 5.6.1

            kandi-Quality Quality

              matsim-berlin has 0 bugs and 0 code smells.

            kandi-Security Security

              matsim-berlin has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.
              matsim-berlin code analysis shows 0 unresolved vulnerabilities.
              There are 0 security hotspots that need review.

            kandi-License License

              matsim-berlin is licensed under the GPL-2.0 License. This license is Strong Copyleft.
              Strong Copyleft licenses enforce sharing, and you can use them when creating open source projects.

            kandi-Reuse Reuse

              matsim-berlin releases are available to install and integrate.
              Build file is available. You can build the component from source.
              Installation instructions are not available. Examples and code snippets are available.

            Top functions reviewed by kandi - BETA

            kandi has reviewed matsim-berlin and discovered the below as its top functions. This is intended to give you an instant insight into matsim-berlin implemented functionality, and help decide if they suit your requirements.
            • The main entry point
            • Create a scoring function with the given scenario
            • Create the shipments for a specific day
            • Create the result file
            • Entry point for the scenario
            • Makes a time transmission time in seconds
            • Writes the output
            • Called when an iteration is started
            • Compute the line slope
            • Main method for testing
            • Entry point for the network
            • Main method for testing
            • Example of the test
            • Creates a plot
            • Run the test program
            • Get the count id and osm node ids
            • Runs the test
            • Generate the grid
            • Starts the downloader
            • Main entry point
            • Runs the test scenario
            • Main method
            • Replies the bus itineraries
            • Runs the scenario
            • Updates the modes used by the iteration
            • Identifies the main mode for the plan
            Get all kandi verified functions for this library.

            matsim-berlin Key Features

            No Key Features are available at this moment for matsim-berlin.

            matsim-berlin Examples and Code Snippets

            Run the MATSim Berlin scenario
            Javadot img1Lines of Code : 20dot img1License : Strong Copyleft (GPL-2.0)
            copy iconCopy
            Config config = RunBerlinScenario.prepareConfig( args ) ;
            // possibly modify config here
            Scenario scenario = RunBerlinScenario.prepareScenario( config ) ;

            Community Discussions


            URDF loading incorrectly in RVIZ but correctly on Gazebo, what is the issue?
            Asked 2022-Mar-22 at 13:41

            I have imported a urdf model from Solidworks using SW2URDF plugin. The model loads correctly on Gazebo but looks weird on RVIZ, even while trying to teleoperate the robot, the revolute joint of the manipulator moves instead of the wheels. Is there anyone who has faced this issue before or has a solution to it? Here is how it looks on Gazebo

            Here is how it looks on RVIZ

            Here is the URDF file of the Model:



            Answered 2022-Mar-22 at 13:41

            So, I realized two problems:

            First, you have to change the fixed frame in the global options of RViz to world or provide a transformation between map and world.

            Second, your URDF seems broken. There is something wrong with your revolute-typed joints. Changing their type to fixed fixed the problem. I think, it's best if you ask a separate question with a minimal example regarding this second problem.



            How can i find the position of "boundary boxed" object with lidar and camera?
            Asked 2022-Feb-24 at 23:23

            This question is related to my final project. In gazebo simulation environment, I am trying to detect obstacles' colors and calculate the distance between robot and obstacles. I am currently identifying their colors with the help of OpenCV methods (object with boundary box) but I don't know how can i calculate their distances between robot. I have my robot's position. I will not use stereo. I know the size of the obstacles. Waiting for your suggestions and ideas. Thank you!

            My robot's topics :

            • cameras/camera/camera_info (Type: sensor_msgs/CameraInfo)
            • cameras/camera/image_raw (Type: sensor_msgs/Image)
            • sensors/lidars/points (Type: sensor_msgs/PointCloud2)


            Answered 2022-Feb-24 at 23:23

            You can project the point cloud into image space, e.g., with OpenCV (as in here). That way, you can filter all points that are within the bounding box in the image space. Of course, projection errors because of differences between both sensors need to be addressed, e.g., by removing the lower and upper quartile of points regarding the distance to the LiDAR sensor. You can use the remaining points to estimate the distance, eventually.

            We have such a system running and it works just fine.



            What is the more common way to build up a robot control structure?
            Asked 2022-Feb-12 at 15:18

            I’m a college student and I’m trying to build an underwater robot with my team.

            We plan to use stm32 and RPi. We will put our controller on stm32 and high-level algorithm (like path planning, object detection…) on Rpi. The reason we design it this way is that the controller needs to be calculated fast and high-level algorithms need more overhead.

            But later I found out there is tons of package on ROS that support IMU and other attitude sensors. Therefore, I assume many people might build their controller on a board that can run ROS such as RPi.

            As far as I know, RPi is slower than stm32 and has less port to connect to sensor and motor which makes me think that Rpi is not a desired place to run a controller.

            So I’m wondering if I design it all wrong?



            Answered 2022-Feb-12 at 15:18

            Robot application could vary so much, the suitable structure shall be very much according to use case, so it is difficult to have a standard answer, I just share my thoughts for your reference.

            In general, I think Linux SBC(e.g. RPi) + MCU Controller(e.g. stm32/esp32) is a good solution for many use cases. I personally use RPi + ESP32 for a few robot designs, the reason is,

            1. Linux is not a good realtime OS, MCU is good at handling time critical tasks, like motor control, IMU filtering;
            2. Some protection mechnism need to be reliable even when central "brain" hang or whole system running into low voltage;
            3. MCU is cheaper, smaller and flexible to distribute to any parts inside robot, it also helps our modularized design thinking;
            4. Many new MCU is actually powerful enough to handle sophisticated tasks and could offload a lot from the central CPU;



            How can I find angle between two turtles(agents) in a network in netlogo simulator?
            Asked 2021-Dec-15 at 10:03

            In a formation robots are linked with eachother,number of robots in a neighbourhood may vary. If one robot have 5 neighbours how can I find the angle of that one robot with its other neighbour?



            Answered 2021-Dec-15 at 10:03

            (Following a comment, I replaced the sequence of <face + read heading> with just using towards, wich I had overlooked as an option. For some reason the comment I am referring to has been deleted quickly so I don't know who gave the suggestion, but I read enough of it from the cell notification)

            In NetLogo it is often possible to use turtles' heading to know degrees.

            Since your agents are linked, a first thought could be to use link-heading, which directly reports the heading in degrees from end1 to end2.

            However note that this might not be ideal: using link-heading will work spotlessly only if you are interested in knowing the heading from end1 to end2, which means:

            If that's something that you are interested in, fine. But it might not be so! For example, if you have undirected links and are interested in knowing the angle from turtle 1 to turtle 0, using link-heading will give you the wrong value:



            Targetless non-overlapping stereo camera calibration
            Asked 2021-Dec-08 at 03:13

            Overlapping targetless stereo camera calibration can be done using feautre matchers in OpenCV and then using the 8-point or 5-point algoriths to estimate the Fundamental/Essential matrix and then use those to further decompose the Rotation and Translation matrices.

            How to approach a non-overlapping stereo setup without a target?

            Can we use visual odometry (like ORB SLAM) to calculate trajectory of both the cameras (cameras would be rigidly fixed) and then use hand-eye calibration to get the extrinsics? If yes, how can the transformations of each trajectory mapped to the gripper->base transformation and target->camera transformation? Or is there another way to apply this algorithm?

            If hand-eye calibration cannot be used, is there any recommendations to achieve targetless non-overlapping stereo camera calibration?



            Answered 2021-Dec-08 at 03:13

            Hand-eye calibration is enough for your case. Just get the trajectory from each camera by running ORBSLAM. Then, calculate the relative trajectory poses on each trajectory and get extrinsic by SVD. You might need to read some papers to see how to implement this.

            This is sometimes called motion-based calibration.



            ROS: Publish topic without 3 second latching
            Asked 2021-Nov-29 at 18:44

            As a premise I must say I am very inexperienced with ROS.

            I am trying to publish several ros messages but for every publish that I make I get the "publishing and latching message for 3.0 seconds", which looks like it is blocking for 3 seconds.

            I'll leave you with an example of how I am publishing one single message:



            Answered 2021-Nov-29 at 18:44

            Part of the issue is that rostopic CLI tools are really meant to be helpers for debugging/testing. It has certain limitations that you're seeing now. Unfortunately, you cannot remove that latching for 3 seconds message, even for 1-shot publications. Instead this is a job for an actual ROS node. It can be done in a couple of lines of Python like so:



            How to access the Optimization Solution formulated using Drake Toolbox
            Asked 2021-Nov-20 at 02:41

            A c++ novice here! The verbose in the terminal output says the problem is solved successfully, but I am not able to access the solution. What is the problem with the last line?



            Answered 2021-Nov-20 at 02:41

            You will need to change the line



            Detect when 2 buttons are being pushed simultaneously without reacting to when the first button is pushed
            Asked 2021-Oct-22 at 16:58

            I'm programming a robot's controller logic. On the controller there is 2 buttons. There is 3 different actions tied to 2 buttons, one occurs when only the first button is being pushed, the second when only the second is pushed, and the third when both are being pushed.

            Normally when the user means to hit both buttons they would hit one after another. This has the consequence of executing a incorrect action.

            Here is part of the code.



            Answered 2021-Oct-22 at 16:58

            You could use a short timer, which is restarted every time a button press is triggered. Every time the timer expires, you check all currently pressed buttons. Of course, you will need to select a good timer duration to make it possible to press two buttons "simultaneously" while keeping your application feel responsive.

            You can implement a simple timer using a counter in your loop. However, at some point you will be happier with an event based architecture.



            Why does my program makes my robot turn the power off?
            Asked 2021-Oct-19 at 05:05

            I'm trying to put together a programmed robot that can navigate the room by reading instructions off signs (such as bathroom-right). I'm using the AlphaBot2 kit and an RPI 3B+.

            the image processing part works well, but for some reason, the MOTION CONTROL doesn't work. I wrote a simple PID controller that "feeds" the motor, but as soon as motors start turning, the robot turns off.



            Answered 2021-Oct-03 at 14:33

            It is probably not the software. Your power supply is not sufficient or stable enough to power your motors and the Raspberry Pi. It is a very common problem. Either:

            • Use separate power supplies which is recommended
            • Or Increase your main power supply and use some short of stabilization of power

            What power supply and power configuration are you using?



            How to set up IK Trajectory Optimization in Drake Toolbox?
            Asked 2021-Oct-16 at 18:09

            I have read multiple resources that say the InverseKinematics class of Drake toolbox is able to solve IK in two fashions: Single-shot IK and IK trajectory optimization using cubic polynomial trajectories. (Link1 Section 4.1, Link2 Section II.B and II.C)
            I have already implemented the single-shot IK for a single instant as shown below and is working, Now how do I go about doing it for a whole trajectory using dircol or something? Any documentation to refer to?



            Answered 2021-Oct-16 at 18:09

            The IK cubic-polynomial is in an outdated version of Drake. You can check out In the folder drake/matlab/systems/plants@RigidBodyManipulator/inverseKinTraj.m


            Community Discussions, Code Snippets contain sources that include Stack Exchange Network


            No vulnerabilities reported

            Install matsim-berlin

            You can download it from GitHub.
            You can use matsim-berlin like any standard Java library. Please include the the jar files in your classpath. You can also use any IDE and you can run and debug the matsim-berlin component as you would do with any other Java program. Best practice is to use a build tool that supports dependency management such as Maven or Gradle. For Maven installation, please refer For Gradle installation, please refer .


            For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .
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