config/main.yaml#

An example main configuration file for the ARGoS engine:

# Per-project configuration for SIERRA core. This dictionary is
# mandatory.
sierra:
  # Configuration for each experimental run. This dictionary is
  # mandatory for all experiments.
  run:
    # The directory within each experimental run's working
    # directory which will contain the metrics output as by the
    # run. This key is mandatory for all experiments. Can be
    # anything; this is the interface link between where the
    # project code outputs things and where SIERRA looks for
    # outputs.
    run_metrics_leaf: 'metrics'

    # The name of the shared library where project code can be
    # found, sans file extension. Must include
    # 'lib'. Optional. If not present, then SIERRA will use
    # ``--project`` as the name of the library to tell ARGoS to
    # use.
    library_name: 'libawesome'

  # Configuration for performance measures. This key is mandatory
  # for all experiments. The value is the location of the .yaml
  # configuration file for performance measures. It is a separate
  # config file so that multiple scenarios within a single
  # project which define performance measures in different ways
  # can be easily accommodated without copy-pasting.
  perf: 'perf-config.yaml'

An example main configuration file for the ROS1+Gazebo engine:

 # Per-project configuration for SIERRA core. This dictionary is
 # mandatory.
 sierra:
   # Configuration for each experimental run. This dictionary is
   # mandatory for all experiments.
   run:
     # The directory within each experimental run's working
     # directory which will contain the metrics output as by the
     # run. This key is mandatory for all experiments. Can be
     # anything; this is the interface link between where the
     # project code outputs things and where SIERRA looks for
     # outputs.
     run_metrics_leaf: 'metrics'


   # Configuration for performance measures. This key is mandatory
   # for all experiments. The value is the location of the .yaml
   # configuration file for performance measures. It is a separate
   # config file so that multiple scenarios within a single
   # project which define performance measures in different ways
   # can be easily accommodated without copy-pasting.
   perf: 'perf-config.yaml'

# Configuration specific to the ROS engines. This
# dictionary is required if that engine is selected, and
# optional otherwise.
ros:
  # The list of robot configuration for the engine that you want
  # SIERRA to support (that actual list of robots supported by the
  # engine can be much larger).
  robots:
    # The name of a supported robot which can be passed to
    # ``--robot``. Can be any valid python string, and does not
    # have to match whatever the robot is called in its ROS
    # package.
    governator:
      # The ROS package that the robot can be found in. This
      # package must be on your ROS_PACKAGE_PATH or SIERRA will
      # fail at runtime. This key is required.
      pkg: "my_ros_package"

      # The name of your robot within its ROS package. Used by
      # SIERRA to add the ROS node to load its description. This
      # key is required.
      model: "terminator"

      # The name of a variation of the base robot model. This key
      # is optional. If present, the actual name of the robot in
      # the ROS package used to source the robot description is
      # constructed via <model>_<model_variant>
      model_variant: "T1000"

      # The robot prefix which will be prepended to the robot's
      # numeric ID to form its UUID. E.g., for robot 14, its UUID
      # will be <prefix>14. This is used by SIERRA to create
      # unique namespaces for each robot's nodes so that all their
      # ROS topics are unique.
      prefix: "T"

    myrobot2:
      ...

An example main configuration file for the ROS1+Robot engine:

 # Per-project configuration for SIERRA core. This dictionary is
 # mandatory.
 sierra:
   # Configuration for each experimental run. This dictionary is
   # mandatory for all experiments.
   run:
     # The directory within each experimental run's working
     # directory which will contain the metrics output as by the
     # run. This key is mandatory for all experiments. Can be
     # anything; this is the interface link between where the
     # project code outputs things and where SIERRA looks for
     # outputs.
     run_metrics_leaf: 'metrics'

   # Configuration for performance measures. This key is mandatory
   # for all experiments. The value is the location of the .yaml
   # configuration file for performance measures. It is a separate
   # config file so that multiple scenarios within a single
   # project which define performance measures in different ways
   # can be easily accommodated without copy-pasting.
   perf: 'perf-config.yaml'

# Configuration specific to the ROS engines. This
# dictionary is required if that engine is selected, and
# optional otherwise.
ros:
  # The list of robot configuration for the engine that you want
  # SIERRA to support (that actual list of robots supported by the
  # engine can be much larger).
  robots:
    # The name of a supported robot which can be passed to
    # ``--robot``. Can be any valid python string, and does not
    # have to match whatever the robot is called in its ROS
    # package.
    turtlebot3:
      # The robot prefix which will be prepended to the robot's
      # numeric ID to form its UUID. E.g., for robot 14, its UUID
      # will be <prefix>14. This is used by SIERRA to create
      # unique namespaces for each robot's nodes so that all their
      # ROS topics are unique (if desired).
      prefix: "tb3_"

      # The name of the setup script to source on login to each
      # robot to setup the ROS environment. This key is optional.
      setup_script: "$HOME/setup.bash"

    myrobot2:
      ...

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