Manuals MSD19

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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)
  • 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.

Tech United Simulator

The simulator (trc) refers to playing a game with robots in the simulator with different settings. 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).
  • Install the Tech United software (here). It should be noted that 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.

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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