Manuals MSD19

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Visualizer

The visualizer is used to play previously recorded data files of Tech United games. The following steps could be followed to set-up the Tech United visualizer:

• Ensure pc username is ¨robocup¨. (see here)
• 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).
• 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.

Simulator

The simulator (trc) is used to play games with robots in the simulator with different settings. It is important to note that the simulator is not required for the project. The following steps briefly describe 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 the correct version of gcc (see here). It's 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 Loco Positioning System). The following issue describes 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).
• Install the Tech United software (here). It should be noted that the last step of "build all" is only required to run the hardware and will only work when connected with Tech United turtle bots.
• 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