Motion Planning Lambdas

• CMake 3.11+ [https://cmake.org/]
• C++ 17 compiler (GCC 8+ or clang 5+ recommended)
• nigh [https://github.com/UNC-Robotics/nigh]
• Eigen [http://eigen.tuxfamily.org/index.php?title=Main_Page]
• FCL [https://github.com/flexible-collision-library/fcl] (build from source)
• libccd [https://github.com/danfis/libccd] (build from source)
• assimp [https://github.com/assimp/assimp] (usually available in package systems)
• libatomic (required by some compilers, usually available in package systems)
• (Optional: ninja [https://ninja-build.org/] build tool, usually in package systems)

For requires software that is available in package systems, use the system's package installer or equivalent to install. Here are a few examples. Some of these examples are untested, but should be close enough to get one started. Please update this README with the correct information.

% sudo apt install g++ clang++ libeigen libassimp ninja

% sudo port install g++-9 clang-8.0 eigen3 assimp ninja

% brew install gcc eigen assimp ninja

% sudo yum install g++ clang++ assimp ninja

Both libccd and fcl should usually be built from source, as the package versions are often out of date. FCL requires libccd, so install libccd first.

IMPORTANT! In the instructions below change g++ and gcc to match the compiler you will be using to build this project. E.g., CXX=g++-9 CC=gcc-9 or CXX=clang++-7 CC=clang-7.

% git clone https://github.com/danfis/libccd.git
% cd libccd
% mkdir build
% cd build
% CXX=g++ CC=gcc cmake -DCMAKE_BUILD_TYPE=Release ..
% make -j4
% sudo make install

IMPORTANT! See note above on compiler setup.

% git clone https://github.com/flexible-collision-library/fcl.git
% cd fcl
% mkdir build
% cd build
% CXX=g++ CC=gcc cmake -DCMAKE_BUILD_TYPE=Release ..
% make -j4
% sudo make install

First install required software. Note that nigh should be checked out to the same level as this project. For example, if you have mplambda checked out to ~/projects/mplambda, nigh should be checked out to ~/projects/nigh

To build:

# change to the checked out directory
$ cd mplambda
$ mkdir -p build/Debug
$ cd build/Debug

(Option 1) for ninja builds, run:

$ cmake -DCMAKE_BUILD_TYPE=Debug -G Ninja ../..
$ ninja

(Option 2) for make builds, run:

$ cmake -DCMAKE_BUILD_TYPE=Debug ../..
$ make -j4

If your C++17 compiler has a different name than the default one used by CMake, you can specify which compiler to use with the CXX environment variable, e.g., the following example uses clang++-mp-7.0 as the CXX compiler.

$ CXX=clang++-mp-7.0 cmake -DCMAKE_BUILD_TYPE=Debug ../..

If CMake complains about pkgconfig, then you may have to set the PKG_CONFIG_PATH environment variable. This can be done in the same way as CXX. Typically, this message can be fixed by adding /usr/local/lib/pkgconfig.

$ PKG_CONFIG_PATH=/usr/local/lib/pkgconfig cmake -DCMAKE_BUILD_TYPE=Debug ../..

To specify both PKG_CONFIG_PATH and CXX, separate them by a space.

Homebrew seems to require use of gcc. Specify this compiler when running cmake, as you did when installing libccd and fcl.

$ CC=GCC-9 CXX=g++-9 cmake -DCMAKE_BUILD_TYPE=Debug -G Ninja ../..

First start the Coordinator process in its own terminal window:

$ ./mpl_coordinator

It should display a few lines about it listening on a port.

In a separate window, run the robot client command with a test problem from OMPL APP:

$ ./mpl_robot --coordinator=localhost --start=0,0,0,1,270,160,-200 --goal=0,0,0,1,270,160,-400 --min=53.46,-21.25,-476.86 --max=402.96,269.25,-91.0 --algorithm=rrt --env Twistycool_env.dae --robot Twistycool_robot.dae 

Resource: https://aws.amazon.com/blogs/compute/introducing-the-c-lambda-runtime/. This was used to setup the framework (install packages, linking, etc.). We use PROJECT_NAME of mpl_lambda_aws for this README. Instructions for the trust policy are below. Below will pickup once mpl_lambda_aws.zip exists.

Trust Policy

While this is found at the resource, stating the method we used.

Within your build directory, ensure trust-policy.json exists. If it does not, create the following JSON file for the trust policy and name it trust-policy.json.

{
 "Version": "2012-10-17",
  "Statement": [
    {
      "Effect": "Allow",
      "Principal": {
        "Service": ["lambda.amazonaws.com"]
      },
      "Action": "sts:AssumeRole"
    }
  ] 
}

Now, from the build directory, run:

$ aws iam create-role \
--role-name lambda-cpp-demo \
--assume-role-policy-document file://trust-policy.json

This should output JSON that contains the newly created IAM role information. Make sure to note down the “Arn” value from that JSON. You need it later. The Arn looks like the following:

“Arn”: “arn:aws:iam::<account_id>:role/lambda-cpp-demo”

The Lambda Function

To generat the zip file, after building and making, call

$ make mpl_lambda_aws_zip

within the build directory. This will generate the zip and add the needed resource files.

To initially create the Lambda, run:

$ aws lambda create-function \
--function-name mpl_lambda_aws_test \
--role arn:aws:iam::788532905224:role/mplambda_test \
--runtime provided \
--timeout 60 \
--memory-size 256 \
--handler mpl_lambda_aws \
--zip-file fileb://mpl_lambda_aws.zip

To update the Lambda, run:

$ aws lambda update-function-code --function-name mpl_lambda_aws_test --zip-file fileb://mpl_lambda_aws.zip

To invoke a test run of the Lambda, run:

$ ./mpl_lambda_invoke

This is a hardcoded example for testing.

To invoke the Lambda with your own parameters, replace relevant data and run:

$ aws lambda invoke --function-name mpl_lambda_aws_test --payload '{"scenario":"se3", "coordinator":"35.165.206.179", "start":"0,0,0,1,270,160,-200", "goal":"0,0,0,1,270,160,-400", "min":"53.46,-21.25,-476.86", "max":"402.96,269.25,-91.0", "algorithm":"rrt", "env":"resources/se3/Twistycool_env.dae", "robot":"resources/se3/Twistycool_robot.dae", "envFrame":""}' output.txt