SimServer
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== Multi robot simulator == | == Multi robot simulator == | ||
| − | Location is in mobotware/simulator/trunk. | + | Location is in ''mobotware/simulator/trunk'', assuming mobotware is in the ''mobotware'' directory. |
| − | == | + | == Simulation server == |
| − | Example | + | Example recipe to run simulation server |
* Make an empty directory on the computer where the simulation server should run (a 32 bit linux computer with mobotware installed) | * Make an empty directory on the computer where the simulation server should run (a 32 bit linux computer with mobotware installed) | ||
mkdir simserver | mkdir simserver | ||
* copy the example configuration files | * copy the example configuration files | ||
| − | cp mobotware/simulator | + | cd simserver |
| + | cp -r mobotware/simulator/trunk/example . | ||
| + | * then in this directory the file ''simconfig.xml'' is the entry for the simulated world | ||
| + | * Default is 4 robots in a 4x4m square. | ||
| + | * start the sim server | ||
| + | simserver | ||
| + | * if it fails, complaining about missing rgb.txt, I made a symbolic link to these resources: | ||
| + | ln -s ~/mobotware/simulator/trunk/stage-3.2.2.DTU/assets/* . | ||
| + | |||
| + | == Simulation client == | ||
| + | |||
| + | In the same directory as the simulation server example, there is an example configuration | ||
| + | for the 4 default robots (smr0..smr3). | ||
| + | |||
| + | Go to one of these directories, e.g.: | ||
| + | cd smr0 | ||
| + | kate ulmsserver.ini | ||
| + | Edit the ulmsserver.ini as appropriate, especially the long path in the module ''load="..."'' path should be removed, only including the plug-in name, e.g. ''aupoly.so.0''. | ||
Latest revision as of 16:25, 1 July 2015
[edit] Multi robot simulator
Location is in mobotware/simulator/trunk, assuming mobotware is in the mobotware directory.
[edit] Simulation server
Example recipe to run simulation server
- Make an empty directory on the computer where the simulation server should run (a 32 bit linux computer with mobotware installed)
mkdir simserver
- copy the example configuration files
cd simserver cp -r mobotware/simulator/trunk/example .
- then in this directory the file simconfig.xml is the entry for the simulated world
- Default is 4 robots in a 4x4m square.
- start the sim server
simserver
- if it fails, complaining about missing rgb.txt, I made a symbolic link to these resources:
ln -s ~/mobotware/simulator/trunk/stage-3.2.2.DTU/assets/* .
[edit] Simulation client
In the same directory as the simulation server example, there is an example configuration for the 4 default robots (smr0..smr3).
Go to one of these directories, e.g.:
cd smr0 kate ulmsserver.ini
Edit the ulmsserver.ini as appropriate, especially the long path in the module load="..." path should be removed, only including the plug-in name, e.g. aupoly.so.0.
