RoboCup Simulator Execution

Running Under Simulation

• Reroute the multicast packets - this is to keep your simulator from flooding any network you are on with vision packets.
  • Starting from the software/trunk folder
  • cd doc/
  • ./mcast_route lo [requires root password]
• Start the simulator itself with a configuration to describe how many robots it starts with. There are multiple configurations available in the SoccSim/config folder, but two_teams will provide the default for most soccer applications.
  • cd SoccSim/bin
  • ./soccsim -c ../config/two_teams.xml
• At this point, there is a small wireframe display of the field with robots, but it isn't particularly interactive. To actually do robot control and soccer playing, you will need to create instances of soccer for each team.
  • Starting from the previous step
  • cd ../../soccer/bin
  • ./soccer -b -c ../config/sim.xml
    • This command starts soccer with the blue team (-b) flag, the robot configuration for the simulator. To specify the other team, use -y instead of -b. The sim config should be used whenever the simulator is used.