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laptop $ git clone --recursive https://github.com/duckietown/duckietown-fplan

laptop $ cd duckietown-fplan
laptop $ catkin_make

laptop $ source devel/setup.bash

laptop $ roslaunch flock_simulator flock_simulator.launch

laptop $ gedit src/flock_planner/src/dispatcher.py

state = {
    'duckies': {
        'duckie-0': {
            'status': 'IDLE',
            'lane': 'l001',
        },
        'duckie-1': {
            'status': 'IDLE',
            'lane': 'l042',
        }, ...
    },
    'requests': {
        'request-0': {
            'time': 63,  # Timestep of request
            'duckie_id':
            'duckie-2',  # Duckie which is serving the request (empty if unassigned)
            'start_node': 'P13',  # Start node of graph (networkx)
            'end_node': 'P02',  # End node of graph
        }, ...
    }
}

paths = [
    {
        'duckie_id': 'duckie-0',
        'request_id': 'request-2',
        'path': ['P03', 'P12', 'P08']
    },
    {
        'duckie_id': 'duckie-1',
        'request_id': None,  # Puts duckie into rebalancing mode
        'path': ['P03', 'P06']
    },
    ...
]

laptop $ roslaunch flock_simulator flock_simulator.launch

std_msgs/Header header  # Generic header
flock_simulator/DuckieState[] duckie_states  # An array of duckie states
flock_simulator/Request[] requests  # An array of requests that have not been filled (either waiting or being driven around)
flock_simulator/Request[] filled_requests  # An array of filled requests (picked up and dropped off again)

std_msgs/String duckie_id  # The duckie's ID
std_msgs/String[] in_fov  # An array of all the duckies that it can see in its field of view
std_msgs/String status  # For fleetplanning ('IDLE', 'REBALANCING', 'DRIVINGTOCUSTOMER', 'DRIVINGWITHCUSTOMER')
std_msgs/String lane  # Current lane the duckie is on
std_msgs/UInt8 collision_level  # 0: No collision, 1: collision
geometry_msgs/Pose2D pose  # Current pose
geometry_msgs/Twist velocity  # Current velocity

std_msgs/String request_id  # The request ID
std_msgs/UInt32 start_time  # The timestep of the request creation (calculate with dt to get time in seconds)
std_msgs/UInt32 pickup_time  # The timestep of pickup (0 if not picked up)
std_msgs/UInt32 end_time  # The timestep of drop-off (0 if not dropped off)
std_msgs/String start_node  # The node for pick-up (see _Map_ later)
std_msgs/String end_node  # The node for drop-off
std_msgs/String duckie_id  # The duckie that picked up the request (empty if request is waiting)

std_msgs/Header header  # Generic header
std_msgs/Float64 dt  # The timestep duration of the simulation in seconds, should not be too big (ideally ~0.05 or less)
flock_simulator/DuckieCommand[] duckie_commands  # An array for individual commands for duckies

std_msgs/String duckie_id  # The duckie this command is meant for
std_msgs/Bool on_rails  # Set to True if the command is defined by the path below, set to False if the command is given as velocities in velocity_command below
std_msgs/String[] path  # An array of nodes that define the path
std_msgs/String request_id  # The request ID the duckie should serve (picks up or drops off if driving by)
geometry_msgs/Twist velocity_command  # Velocity commands (linear velocity in linear.x, angular velocity in angular.z)

duckie-i collided!
duckie-j collided!

laptop $ git submodule update --recursive --remote

laptop $ cd src/duckietown-visualization
laptop $ git pull

laptop $ cd src/duckietown-visualization
laptop $ git checkout visualization-fplan