Cloning this folder will create a folder named TrafficSim on your system. If this happens, you must type the following to correct the name of the folder to match the package name:

1. cd path/to/TrafficSim/.. or cd parent/path/of/TrafficSim
2. mv TrafficSim/ trafficsim/
3. mv trafficsim/ path/to/ros2_ws/src

 

---

 

TrafficSim - A package for simulating the Scottish Rail Network in ROS2.

Dependencies

1. This project is build for Ubuntu Linux - Noble Numbat (24.04)
2. ROS 2 Jazzy - Build according to docs
3. Pyrobosim - Build according to docs
4. Type source ./setup/source_pyrobosim.bash to source and enter the python virtual environment before any steps below

Installing requirements

1. pip install -r path/to/ros2_ws/src/trafficsim/core/requirements.txt

Build & Launch Instructions

1. cd path/to/ros2_ws/src/trafficsim
2. bash build_and_launch.bash

Resolving Errors - No module named 'py-xxxx'

1. pip install xxxx
2. ONLY if failed sudo apt install python3-xxxx

Package Contents

There are three folders within this repository - each contain a separate package:

1. core contains the trafficsim package.
2. trafficsim_interfaces contains the custom interfaces used to communicate with TrafficSim package.
3. station_dataset contains the station coordinates and CRS codes (in csv format), as well as a Python script, dataset_to_json.py to generate rail lines and stations based on an internal dictionary, lines.

Actions

Moving a Train to a Destination (no stops)

ros2 action send_goal <RobotName>/route_train trafficsim_interfaces/action/RouteTrain "{destination: 'Station_Name'}"

Running Live Timetable on a Train

ros2 action send_goal <RobotName>/follow_service_timetable trafficsim_interfaces/action/ServiceRoute

Services

Request Next Service

ros2 service call /RailTrafficScheduler/request_next_departure trafficsim_interfaces/srv/CRSDepartureLookup "{origin: 'Station_Name', lookup_only: True}"

returns a response using the CRSDepartureLookup interface, similar to:

trafficsim_interfaces.srv.CRSDepartureLookup_Response(api_status_code='200', service_uid='P78998', destination='Glasgow Queen Street', origin_start_time='0530', destination_arrival_time='0831', headcode='1T10', atoc_name='ScotRail')

Request All Services

ros2 service call /RailTrafficScheduler/request_all_departures trafficsim_interfaces/srv/CRSAllDepartures "{origin: 'Station_Name', year: 'yyyy', month: 'mm', date: 'dd'}"

returns a response using the CRSAllDepartures interface, similar to:

trafficsim_interfaces.srv.CRSAllDepartures_Response(api_status_code='200', service_uid_list=['P78998', 'P78058', 'P78281', 'P79383', 'P79001', 'P79005', 'C46737', 'C48579', 'P78287', ..., 'P79411'])

Request Service Details

ros2 service call /RailTrafficScheduler/request_service_details trafficsim_interfaces/APIRailServiceLookup "{service_uid: 'P78077', year: '2024', month: '12', date: '06'}"

returns a response using the APIRailServiceLookup interface, similar to:

trafficsim_interfaces.srv.APIRailServiceLookup_Response(api_status_code='200', origin='Aberdeen', destination='Edinburgh', stops=['Stonehaven', 'Laurencekirk', 'Montrose', 'Arbroath', 'Carnoustie', 'Dundee', 'Leuchars', 'Haymarket', 'Edinburgh'])

Topics

Freight Spawner

To begin spawning freight:

ros2 topic pub /toggle_freight_spawning trafficsim_interfaces/msg/ToggleFreightSpawning '{enabled: true}'

To stop spawning freight:

ros2 topic pub /toggle_freight_spawning trafficsim_interfaces/msg/ToggleFreightSpawning '{enabled: false}'