Difference between revisions of "RoboCup Simulator"

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==64 bit==
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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.
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* perform the following actions to be able to compile for a 64bit system
 
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# ''sudo dpkg -i --force-architecture libphysx-*''
 
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# ''sudo aptitude install libc6-dev-i386''
 
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# ''sudo aptitude install g++-multilib''
 
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# ''sudo aptitude install ia32-libs''
 
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# ''if you don't have a libQtOpenGL library in /usr/lib32, get it from a 32bit deb''
 
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# make symbolic links to libraries in /usr/lib32
 
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#* ''ln -s libQtOpenGL.so.4 libQtOpenGL.so''
 
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#* ''ln -s libQtCore.so.4 libQtCore.so''
 
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#* ''ln -s libQtGui.so.4 libQtGui.so''
 
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#* ''ln -s libQtXml.so.4 libQtXml.so''
 
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#* ''ln -s libQtNetwork.so.4 libQtNetwork.so''
 
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#* ''ln -s libGLU.so.1 libGLU.so''
 
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#* ''ln -s libGL.so.1 libGL.so''
 
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#* ''ln -s libXext.so.6 libXext.so''
 
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#* ''ln -s libX11.so.6 libX11.so''
 
  
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==Links==
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==Invocation==
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[http://awakenedmmo.org/docs/physx/html/index.html PhysX Documentation]
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<pre>
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./soccsim [-c <config file>] [--ui] [--sv]
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</pre>
  
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==Running the Simulator==
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If no configuration file is given, it will use <tt>simulator.cfg</tt> in the current directory.
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#Build components
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#*soccer
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* <tt>--ui</tt> displays a GUI that is really only useful for debugging the geometry given to the physics engine.
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#*SoccSim
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* <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>
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#Run System
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##Execute "/SoccSim/bin/soccsim" - This will start the simulation engine, with a 3D wireframe view of the field and robots.
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==Limitations==
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##Execute "/soccer/bin/soccer <-y|-b> -c ../config/sim.xml" - This starts the soccer control system, with your choice of yellow (-y) or blue (-b) teams, as well as a configuration file.
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* No noise.
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* Only outputs data for one camera. Ball-occlusion simulation is still done as if there were two cameras.
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* No carpet effects such as loss of traction and variable height.
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* Only partial simulation of robot status in RadioRx packets.

Revision as of 20:41, 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.
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