SimServer

Multi robot simulator

Location is in mobotware/simulator/trunk, assuming mobotware is in the mobotware directory.

Simulation server

Example recipe to run simulation server

• Make an empty directory on the computer where the simulation server should run (a 32 bit linux computer with mobotware installed)

mkdir simserver

• copy the example configuration files

cd simserver
cp -r mobotware/simulator/trunk/example .

• then in this directory the file simconfig.xml is the entry for the simulated world
• Default is 4 robots in a 4x4m square.
• start the sim server

simserver

• if it fails, complaining about missing rgb.txt, I made a symbolic link to these resources:

ln -s ~/mobotware/simulator/trunk/stage-3.2.2.DTU/assets/* .

Simulation client

In the same directory as the simulation server example, there is an example configuration for the 4 default robots (smr0..smr3).

Go to one of these directories, e.g.:

cd smr0
kate ulmsserver.ini

Edit the ulmsserver.ini as appropriate, especially the long path in the module load="..." path should be removed, only including the plug-in name, e.g. aupoly.so.0.