Installation#

Install Argos 3. Please refer to this Link for instruction.

You can verify the correctness of the compilation by running:
```
argos3 --version
```
Install RPC This repo requires RPC for communication between server and clients. Please install rpc using:
```
bash compile.sh rpclib
```
Install the minimal Python dependencies for run_lifelong.py.
```
python -m pip install -r requirement.txt
```

Compile client.

bash compile.sh client

To produce debuggable code (slow), type:

cd client
cmake -DCMAKE_BUILD_TYPE=Debug ..
make
cd ..

Compile server.
```
bash compile.sh server
```
Compile MAPF planner. For now we support PBS and RHCR.
```
bash compile.sh pbs
bash compile.sh rhcr
```

Alternatively, you may compile rpc, server, client, and MAPF planners using:

bash compile.sh all

While developing, you may compile server, client, and MAPF planners using:

bash compile.sh user

Container#

You can also build and run LSMART inside a Singularity container.

The container build expects Argos3 to already exist in the repository root because singularity/container.def copies it into the image:

argos3_simulator-3.0.0-x86_64-beta59.deb: Download it from Argos3.
Install CPLEX at CPLEX_Studio2210/: If it exists in the repository root, the container build also copies it into the image and compiles the MASS planner. If it is missing, the container still builds, but skips MASS.

Build the container with:

bash singularity/build_container.sh

This produces singularity/container.sif. The build script first creates a writable sandbox, runs it once to compile LSMART inside the container, and then packs the result into the final .sif image. During the build, the container also installs the Python packages from requirement.txt.

To run a headless simulation from the container:

singularity exec --cleanenv \
  singularity/container.sif \
  python run_lifelong.py maps/kiva_large_w_mode.json --headless True --screen 0 --num_agents 10 --save_stats True --rotation False --planner_invoke_policy default --sim_window_tick 10 --planner RHCR --backup_solver PIBT --task_assigner_type windowed --container True