Running Trials¶
Once you’ve started the simulator, you’re ready to run a trial. Use the trial_runner.py
script.
Here is an example:
rosrun social_sim_ros trial_runner.py _num_trials:=10 _num_peds:=10 _time_limit:=60 _trial_name:=nt_outdoor_1
Parameters:
_num_trials
: total number of individual a-to-b navigation routes to attempt_num_peds
: number of pedestrians to spawn in the environment during each run_time_limit
: number of seconds to wait before moving onto the next run, if the goal position is not reached by the robot_trial_name
: the name of the current trial runThe trial runner allows testing the same initial conditions (e.g. initial people and initial robot positions). This is done by randomly initializing the initial conditions when a trial is first run. Trials are identified by their
_trial_name
. Subsequent runs of the same_trial_name
will re-use the initial conditions from the first run. Note that if the first run has less_num_trials
than subsequent runs, only the initial_num_trials
will be run.This means that every run with unique initial conditions should have a unique
_trial_name
.