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Tech United Visualizer

The following steps could be followed to set-up the Tech United visualizer:

• Ensure pc username is ¨robocup¨. (see here)
• sudo apt-get install libjson0 libjson0-dev eclipse eclipse-cdt cmake flex glade automake openssh-server libcv-dev libcvaux-dev
• sudo apt-get install libhighgui-dev ffmpeg libusb-1.0-0-dev bison cmake valgrind ccache gconf-editor nfs-common zlib1g-dev openjdk-8-jre-headless libpng12-dev libjson0-dev gksu
• sudo apt-get install libsdl-image1.2 cpufrequtils libssl-dev
• sudo apt-get update
• sudo apt-get install subversion
• Install smartSVN and download the TechUnited repository in /home/robocup/. (see here)
• Clone the gitlab repository (autoref_system) into a local repository.
• Start MATLAB R2016a as super user.
• Remove ¨/home/robocup/svn/trunk/src/Turtle2¨ from path (a folder in the TechUnited downloaded directory i.e. svn repository).
• Replace folder ¨svn/trunk/src/Turtle2/Tools/greenfield3D¨ by ¨autoref_system/Visualizer/greenfield3D¨.
• Add gitlab repository (autoref_system) to MATLAB path.
• Run MATLAB command ¨greenfield3D replay¨. (Ensure autoref_system directory is the current folder in MATLAB.)
• In the new pop up window select 04_-Jul-2019_04_13_Hibikino.mat in folder 2019_Sydney.
• The visualizer should start running now.

Tech United Simulator

The following steps briefly descibe how to set-up the Tech United simulator, for a more detailed description it is advised to look at this link:

• Ensure pc (devpc) username is "robocup". (see here)
• Install correct version of gcc (see here). Its advisable to not make it a default compiler as described in the link. This is because difficulties were experienced to get "crazyflie_ros" working (related to Crazyflie). The following issue decribes the problem.
• Install required packages (see here).
• Install Subversion 1.9 (see here).
• Install smartSVN and download the TechUnited repository in /home/robocup/. (see here)
• Clone the gitlab repository (autoref_system) into a local repository.
• Install MATLAB R2016a (see here).
• Configure devpc for the simulator (see here).
• Remove ¨/home/robocup/svn/trunk/src/Turtle2¨ from path (a folder in the TechUnited downloaded directory i.e. svn repository).
• Replace folder ¨svn/trunk/src/Turtle2/Tools/greenfield3D¨ by ¨autoref_system/Visualizer/greenfield3D¨.
• Add gitlab repository (autoref_system) to MATLAB path.
• Run MATLAB command ¨greenfield3D replay¨. (Ensure autoref_system directory is the current folder in MATLAB.)
• In the new pop up window select 04_-Jul-2019_04_13_Hibikino.mat in folder 2019_Sydney.
• The visualizer should start running now.
• Now run ¨trc¨ in the terminal.

Useful Links

The following links might come in handy while trying to set up and understand the Tech United Simulator.

• http://cstwiki.wtb.tue.nl/index.php?title=Install_Ubuntu_as_dual_boot#Install_instructions
• http://www.techunited.nl/wiki/index.php?title=Manuals
• http://www.techunited.nl/wiki/index.php?title=Software
• https://ai.vub.ac.be/Robotics/wiki/index.php/TechUnited_Simulator

Points to keep in mind

• Simulator only works with Ubuntu 16.04.
• The username for the system on which Ubuntu is installed should be ¨robocup¨, or else later issues will pop up. Please all use the computer name as ¨devpc1¨ for purpose of consistency.
• While installing smartSVN, use the secure protocol i.e. https://robocup.wtb.tue.nl/svn/techunited, instead of http://robocup.wtb.tue.nl/svn/techunited when required. Else results in error.
• In a terminal execute ¨sudo apt-get install libxml2-dev¨ before running make_all_install. Else MATLAB will give error relating to missing header file (libxml/tree.h).
• Follow steps only till "make_all_install". After that run "build_sim_all".