Configuration Editor - VerifiableRobotics/LTLMoP GitHub Wiki

Introduction

The Configuration Editor allows users to set up the type of robot that will be used, set up the initial conditions, and define the sensor/actuator handlers and how they will be used during execution.

When creating a new experiment, the typical workflow involves creating a new robot configuration or loading an existing one, setting up the initial conditions, selecting a robot type, selecting the appropriate actuator and sensor handlers and, if necessary, editing the mapping from sensor values to logical propositions.

Main GUI

The main GUI screen displays:

  • the list of saved robot configurations for this project (box 1)
  • the input field for naming the current configuration (box 2)
  • checkboxes for setting initial values for each stored proposition from the Specification Editor (link) (box 3)
  • the list of configured robots - real or simulated - and access to sensor/actuator handlers for each (box 4)

Initial Conditions (3)

The user can select initial propositions by checking/un-checking the appropriate box. A check means that proposition will be true initially, otherwise the proposition will be set initially false. All settings will take effect upon hitting Apply or OK.

Note for Slurp users

(link) The "Edit region tags" button is used to create a tag for a group of regions already defined in LTLMoP. In the example shown below, we create a tag called "indoors" to label all regions which should be tagged as indoor regions.

Execution Environment (4)

This is where the user may configure a specific robot to carry out the specification, either in simulation or in real hardware.

Add robot(link) will allow the user to configure a robot, Configure robot(link) will allow the user to configure a robot already selected under the Robots pane, and Remove robot will delete the selection. The button Set as main robot will make the current selection the default. Edit proposition mapping(link) opens a GUI giving the user options for mapping the value of certain sensors and actuators (or Boolean combination therof) to propositions appearing in the specification.

Add/Configure Robot

As shown below, the user can select an existing robot. This list corresponds to the robot files contained in the lib/Robots folder.

  • Initialization handler: configure the initial region for the robot.
  • Pose handler: options for configuring how robot pose data is collected.
  • Sensor handler: options for configuring the various sensor hardware.
  • Actuator handler: options for configuring the various (non-locomotion) actuators.
  • Motion control handler: options and parameters for motion controllers.
  • Drive handler: settings for the robot drive.
  • Locomotion command handler: options for robot locomotion, e.g. speed setting

Edit Proposition Mapping

The proposition mapping GUI....

TODO: add images