Manuals MSD19

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Ubuntu

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 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).
  • 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.
  • 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.

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".
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