SaRA-shield

This package provides safety for human-robot interaction using reachability analysis. We use SaRA to calculate the reachable sets of humans and robots. The SaRA shield additionally provides the necessary trajectory control to stop the robot before any collision with the human could occur.

Installation

Clone the repo with submodules

git clone --recurse-submodules git@github.com:JakobThumm/sara-shield.git

Install the shield [C++ only]

The installation requires gcc, c++>=17, and Eigen3 version 3.4 (download it here: https://eigen.tuxfamily.org/index.php?title=Main_Page). Set the path to your eigen3 installation to this env variable, e.g.,

export EIGEN3_INCLUDE_DIR="/usr/include/eigen3/eigen-3.4.0"

Install gtest

sudo apt-get install libgtest-dev

cd safety_shield
mkdir build && cd build
cmake ..
make -j 4

Install the shield [With Python bindings]

pip install -r requirements.txt
python setup.py install

Run the python binding tests

pytest safety_shield/tests