Difference between revisions of "RoboCup Simulator"
Jump to navigation
Jump to search
Line 1: | Line 1: | ||
− | + | The simulator, <tt>soccsim</tt>, is used heavily for off-line development and testing. It provides the same interfaces as <tt>ssl-vision</tt> and <tt>radio</tt>, allowing <tt>soccer</tt> to run in (nearly) the same way for simulation and real operation. | |
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | |||
− | == | + | ==Invocation== |
− | + | <pre> | |
+ | ./soccsim [-c <config file>] [--ui] [--sv] | ||
+ | </pre> | ||
− | + | If no configuration file is given, it will use <tt>simulator.cfg</tt> in the current directory. | |
− | + | ||
− | + | * <tt>--ui</tt> displays a GUI that is really only useful for debugging the geometry given to the physics engine. | |
− | + | * <tt>--sv</tt> causes the simulator to send data to the <tt>ssl-vision</tt> multicast address. <b>Do not use this on a competition network!</b> | |
− | + | ||
− | + | ==Limitations== | |
− | + | * No noise. | |
+ | * Only outputs data for one camera. Ball-occlusion simulation is still done as if there were two cameras. | ||
+ | * No carpet effects such as loss of traction and variable height. | ||
+ | * Only partial simulation of robot status in RadioRx packets. |
Revision as of 21:41, 2 August 2010
The simulator, soccsim, is used heavily for off-line development and testing. It provides the same interfaces as ssl-vision and radio, allowing soccer to run in (nearly) the same way for simulation and real operation.
Invocation
./soccsim [-c <config file>] [--ui] [--sv]
If no configuration file is given, it will use simulator.cfg in the current directory.
- --ui displays a GUI that is really only useful for debugging the geometry given to the physics engine.
- --sv causes the simulator to send data to the ssl-vision multicast address. Do not use this on a competition network!
Limitations
- No noise.
- Only outputs data for one camera. Ball-occlusion simulation is still done as if there were two cameras.
- No carpet effects such as loss of traction and variable height.
- Only partial simulation of robot status in RadioRx packets.