Difference between revisions of "RoboCup Simulator"

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==64 bit==
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The simulator, <tt>simulator</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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./simulator [-c <config file>] [--sv]
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</pre>
  
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==Running the Simulator==
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The configuration file specifies the number and model of the robots on the blue team and yellow team.
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#Build components
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#*soccer
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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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#*SoccSim
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#Run System
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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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##Execute "/SoccSim/bin/soccsim" - This will start the simulation engine, with a 3D wireframe view of the field and robots.
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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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==Limitations==
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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.
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[[Category: RoboCup]]

Latest revision as of 23:11, 13 June 2018

The simulator, simulator, 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

./simulator [-c <config file>] [--sv]

The configuration file specifies the number and model of the robots on the blue team and yellow team.

If no configuration file is given, it will use simulator.cfg in the current directory.

  • --sv causes the simulator to send data to the ssl-vision multicast address. Do not use this on a competition network!

Limitations

  • 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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