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cs:simulator:start [2016/08/21 19:34] Brandon Kallaher created |
cs:simulator:start [2016/12/07 10:59] James Irwin [Running Gazebo Simulator] |
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| ====== Simulator ====== | ====== Simulator ====== | ||
| - | ===== Setup ===== | + | ===== Unity Simulator Setup ===== |
| + | To install the Unity Editor, run: | ||
| + | sudo aptitude install unity-editor | ||
| + | This is a large package (~3.7G), it will take a while! | ||
| - | The simulator is completely modular and fits into the existing software system as subrepo with virtualized hardware modules. In order to run the simulator you simply need to clone simulator within the robosub repo. | + | To get the code for the simulator, cd into the robosub repo, then run |
| - | + | git submodule init | |
| - | Ex. | + | git submodule update |
| - | + | This is also a lot of data, it will take a while. When it is done, all the code will be in a folder called //simulator// within the repo. | |
| - | * git clone https://www.github.com/PalouseRobosub/robosub.git | + | |
| - | * cd robosub | + | |
| - | * git clone https://www.github.com/PalouseRobosub/simulator.git | + | |
| - | + | ||
| - | The project must be opened using the experimental [[http://download.unity3d.com/download_unity/linux/unity-editor-5.4.0b16+20160503_amd64.deb|Linux Unity Editor]] | + | |
| Once installed and you have an account setup, you need to open the folder containing /Assets and /ProjectSettings as a project. The project will generate all of the meta files needed to run the simulator. Once generated, you will have a list of scenes that you can open in the directory view. Opening Competition will pull up the competition scene. | Once installed and you have an account setup, you need to open the folder containing /Assets and /ProjectSettings as a project. The project will generate all of the meta files needed to run the simulator. Once generated, you will have a list of scenes that you can open in the directory view. Opening Competition will pull up the competition scene. | ||
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| The control system is currently loaded from the control file within the parent repo. Thrusters currently need to be in order (front, back, left, right, top, bot) for the control system to output correctly. It's best to checkout the simulator branch in robosub to grab a test control system layout where the sub is balanced. Once you run control, the broker, and the simulator you can use messenger to test movement and thruster outputs. | The control system is currently loaded from the control file within the parent repo. Thrusters currently need to be in order (front, back, left, right, top, bot) for the control system to output correctly. It's best to checkout the simulator branch in robosub to grab a test control system layout where the sub is balanced. Once you run control, the broker, and the simulator you can use messenger to test movement and thruster outputs. | ||
| + | ===== Gazebo Install ===== | ||
| + | |||
| + | Currently we use Unity as our simulator. We are considering moving to Gazebo. The following instructions are if you are interested in exploring this. | ||
| + | |||
| + | To install software for the gazebo simulator please follow these steps: | ||
| + | |||
| + | sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main" > /etc/apt/sources.list.d/gazebo-latest.list' | ||
| + | wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - | ||
| + | sudo aptitude update | ||
| + | sudo aptitude install robosub-simulator | ||
| + | | ||
| + | Then clone the repo: https://github.com/PalouseRobosub/simulator_gazebo to your catkin workspace. | ||
| + | |||
| + | ===== Running Gazebo Simulator ===== | ||
| + | |||
| + | Next build everything by running catkin_make. Then run the following command: | ||
| + | roslaunch robosub_simulator gazebo.launch | ||
