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SimSpark for SPL

TODO rules for SPL

SCHEDULED: 2012-05-17 Thu 11:00

DONE prepation [100%]

CLOSED: 2012-05-15 Tue 04:11

  • State "DONE" from "" 2012-05-15 Tue 04:11
  • [X] comiple & test current state
  • [X] merge changes from master
  • [X] make s3d version and spl version work together (copy config files)

DONE intial - ready - set - play

CLOSED: 2012-05-15 Tue 04:10

  • State "DONE" from "" 2012-05-15 Tue 04:10

WAIT (un)penalize

  • State "WAIT" from "" 2012-05-15 Tue 04:10
    quick hack with Macus, needs to clean

WAIT illegal defender

  • State "WAIT" from "" 2012-05-15 Tue 04:09
    check code from Marcus

:ID: 2e96512d-9108-4c8c-8711-62918c65eaa7

put the ball back after leaving the field

:END:

DONE manually placement after 'ready' state

  • State "DONE" from "TODO" 2012-05-18 Fri 21:18
  • check which robot is in bad position
  • the function finds the most free position

remove unnecessary functions

  • [X] SPLRule::MoveBall

pushing

SimLeague

DONE 1.0 [100%]

SCHEDULED: 2011-05-13 Fri CLOSED: 2011-05-16 Mon 13:52

  • [X] init
  • [X] start
  • [X] readme

Tips of installation

装3d server 好多遍了，几乎换一个软件或者硬件环境就有新的问题出现 -_-!把 这些问题及解决方法记录下来，方便以后。

ODE Message 3: LCP internal error 2012-03-09 Fri

ODE crashes in single precision! so configure ODE with ./configure --enable-shared --disable-static --enable-double-precision --prefix.. It took me 4 hours to figure it out…

undefined symbol: SDL_Init/SDL_WasInit 2011-10-14 Fri

After upgrading to ubuntu 11.10, the simspark can be compiled, but when run it, error appeared:

./simspark: symbol lookup error: …/lib/simspark/openglsyssdl.so: undefined symbol: SDLInit

./simspark: symbol lookup error: …/lib/simspark/inputsdl.so: undefined symbol: SDLWasInit

The problem is that the -lSDL is not passed for some reason… so for quick fix, edit two files: spark/plugin/openglsyssdl/CMakeList.txt and spark/plugin/inputsdl/CMakeList.txt, add SDL in target_link_libraries

Install with ODE TBB support in local folder [2011.03.28]

  • install libtbb2 by apt-get
  • install ODE-tbb
    • ./configure --enable-shared --disable-static --prefix=${installed_dir}
    • make -j2
    • make install
  • install SimSpark
    • cd spark
    • md build
    • cd build
    • cmake .. it can not find ode
    • ccmake . change CMAKE_INSTALL_PREFIX to ${installed_dir}, press c and g
    • make -j2
    • make install
    • do the same for rcssserver3d
  • create a start script: 
#!/bin/sh

installed_dir=...
export LD_LIBRARY_PATH=${installed_dir}/lib:${installed_dir}/lib/simspark:${installed_dir}/lib/rcssserver3d

./rcssserver3d

Install in Linux Server (Gruenau) (2010.1.17)

  • ruby-1.8.6-p388 and ruby-1.9.1-p378 does NOT work, but ruby-1.8.7-p174 works
  • SDL should not init video in InputSystemSDL

Build simspark in Windows (2009.07.24)

Download & Install Software

Configure

  • run cmake-gui
  • set source code folder and building folder
  • add Entry: DevIL_ROOT_DIR, BOOST_ROOT … (lots of variables for the libraries)
  • run "Configure" (if error happens, set the variable manually)
  • run "Generate"

Build

  • open the solution file with Visual Studio
  • build the solution

Notice for Rsgedit

  • build wxWidgets with OpenGL: edit lib\vc_lib\mswd\wx\setup.h : 
    - #define wxUSE_GLCANVAS       0
+ #define wxUSE_GLCANVAS       1
  • In Visual Studio, select rsgedit -> Properties -> Configuration Properties -> Linker -> System,set SubSystem to Windows(/SUBSYSTEM:WINDOWS)

sfsexp could not read symbols (2007-10-9)

问题

sfsexp的一个版本被直接copy到server的源码中了，但编译时报出

rcssserver3d-0.5.6/utility/sfsexp/libsexp.a(parser.o): relocation RX866432 against `a local symbol' can not be used when making a shared object; recompile with -fPIC /home/co/server/rcssserver3d-0.5.6/utility/sfsexp/libsexp.a: could not read symbols: Bad value collect2: ld returned 1 exit status

解决方法

参考这里。该页将问题讲得很清楚，从基本概念到解决方法。 最后，我使用了Case 3的解决方法，也就是在utility/sfexp/Makefile.am文件 中加入一行 

AM_CFLAGS = -fPIC

DevIL库在GCC4.2 on X86_64平台出错 (2007-10-9)

问题

在DevIL库的头文件中使用了 

typedef void ILvoid;

该代码在GCC4.2 on X86_64平台出错，也不知道是GCC的bug（检查太严），还是DevIL的问题。

解决方法

  • 方法一
    参考这里。就是把il.h, ilu.h, devil_internal_exports …… 中所有的ILvoid替换为void。 上面的地址中有个diff文件，可以直接patch上就可以了。
  • 方法二（简单）
    其实跟不用着这么麻烦地替换所有的ILvoid，只要使用宏将ILvoid定义为viod就 行了，即修改Devil代码中include/IL/il.h 
    - typedef void ILvoid;
+ #define ILvoid void;

Task

DONE fix bug about beam for Dieter

CLOSED: 2012-03-20 Tue 18:24

DONE comiple windows version in DEBUG for Dieter

CLOSED: 2012-03-19 Mon 17:02

DONE the interface to the new SimSpark [100%]

CLOSED: 2009-07-28 Tue 16:14

  • DONE use git to download new source
    CLOSED: 2009-03-03 二 11:26
  • DONE the basic interface of NaoTH-2009
    SCHEDULED: 2009-03-03 二 CLOSED: 2009-03-03 二 17:42
  • DONE Image Sensor
    CLOSED: 2009-07-28 Tue 16:14

DONE Image Camera Sensor

CLOSED: 2009-02-27 五 10:08

  • DONE capture the image to file of the current screen
    CLOSED: 2009-01-08 四 10:49
  • DONE bind the camera to the robot's head
    CLOSED: 2008-11-13 四 15:47
  • CANCEL picture in picture ( render twice(or more) in one monitor)
  • DONE send email to the simspark mail list
    CLOSED: 2008-11-13 四 15:48
  • the formate of communication
  • draft release

CANCELED import the mesh for soccerbot

CLOSED: 2010-05-12 Wed 08:19

DONE debug the rsgedit in my system

CLOSED: 2009-02-27 五 10:08

DONE release rcssserver3d-0.6 [100%]

CLOSED: 2008-06-23 一 15:55

  • [X] fix bugs:
    • [X] vision perceptor
    • [X] kick off
    • [X] drop ball
    • [X] move agent
  • [X] do the release
    • [X] check out the clean source from cvs
    • [X] make & make install & test
    • [X] write README & NEWS
    • [X] increase version, make dist
    • [X] reconfigure & make & make install & test
    • [X] send the preview to other MCs
    • [X] fix bugs reported
    • [X] tag the code in the cvs
    • [X] upload the distribution
    • [X] create the release
    • [X] spread the news

DONE release rcssserver3d-0.5.9 [100%]

CLOSED: 2008-06-02 一 20:11

  • [X] implement new features:
    • [X] mesh init effector
    • [X] restrict vision perceptor
    • [X] bounding box
    • [X] camera postion in monitorspark
    • [X] soccerbot with RVP and neck
    • [X] parameters adjustment
  • [X] do the release
    • [X] check out the clean source from cvs
    • [X] make & make install & test
    • [X] write README & NEWS
    • [X] increase version, make dist
    • [X] reconfigure & make & make install & test
    • [X] send the preview to other MCs
    • [X] fix bugs reported
    • [X] tag the code in the CVS
    • [X] upload source distrubtion
      • sftp yxu@frs.sourceforge.net
      • cd uploads
      • put file
    • [X] create the release
    • [X] spread the news

DONE release rcssserver3d-0.5.8 [100%]

SCHEDULED: 2008-05-12 一 CLOSED: 2008-05-12 一 09:44

  • [X] check out the clean source from cvs
  • [X] add textures of Nao to cvs
  • [X] new a naosoccersim.rb with new field
    • [X] scale the old soccersim.rb
    • [X] use new textures from Joschka
  • [X] scale the soccerbotcomp.rsg to soccerbot058
  • [X] do the release
    • [X] check out the clean source form cvs
    • [X] make & make install & test
    • [X] write the README & NEWS
    • [X] increase the version, make dist
    • [X] reconfigure & make & make install & test
    • [X] send the preview to other MCs
    • [X] wait response from others
    • [X] fix buges reported from other MCs
    • [X] tag the code in the CVS
    • [X] upload source distrubtion
    • [X] create the release
    • [X] spread the news

DONE release rcssserver3d-0.5.7 [100%]

CLOSED: 2008-03-27 四 15:43

  • [X] check out the clean source form cvs
  • [X] make & make install & test
  • [X] write the README & NEWS …
  • [X] increase the version, make dist
  • [X] re-configure & make & make install & test
  • [X] send the preview to other MCs
  • [X] commit in the source
  • [X] wait response from others
    • [X] fix bug in sparkmonitor
  • [X] tag the code in the CVS
  • [X] upload source distrubiton
  • [X] create the release
  • [X] spread the news

DONE make the external monitor working [100%]

CLOSED: 2008-04-03 四 13:40

  • [X] make seu-toolkit working with rcssserver3d-0.5.7
  • [X] test the simspark with seu-toolkit
  • [X] make simspark works with seu-toolkit
  • [X] make simspark works with monitorspark

CANCELED test multi-threaded ODE in the IBM X4500 [75%]

CLOSED: 2010-05-12 Wed 08:19

  • [X] test the rounding error fixing
  • [X] install multi-threaded ODE in the IBM X3400
  • [X] install the updated rcssserver3d
  • [ ] running some tests

Simulation

仿真与实物相比

优点

  • When working with robots, the usage of a simulation is often of significant importance1.
    • On the one hand, it enables the evaluation of different alternatives during the design phase of robot systems and may therefore lead to better decisions and cost savings.
    • On the other hand, it supports the process of software development by providing an replacement for robots that are currently not on hand (e. g. broken or used by another person) or not able to endure long running experiments (e. g. learning tasks).
    • Furthermore, the execution of robot programs inside a simulator offers the possibility of directly debugging and testing them. This is a great benefit when working with platforms that do not offer any direct debugging facilities, e. g. the Sony AIBO robot.

缺点

各种仿真器比较

SimulatorObjectPhysics EngineScene DescriptionArchitectureGUIflexibilityActuatorsSensorsApplications
SimsparkODE
Sim Robot1any class of mobile robotsODEXMLone single applicationyesP/PID servo motors (joints)Camera(2D RGB pixels),Distance Sensor,Bumper,Actuator State4LL, SML，navigation
UCHILSIM2RoboCup Four-legged LeagueODEVRMLyesspecific for one RoboCup league4LL
Ubersim3high-fidelity, focus on vision-centric robotsODEC classesTCP/IPnoSML
Gazebo4general 3-D multi-robotXMLwxPythoncode-based modeling in C
Webots5commercialODEVRMLTCP/IPyes
OpenHRP6initiate the exploration of humanoid robotics on an open architecture software and hardwareenhanced VRML97CORBAyes

各种仿真器简介

Simspark

Sim Robot

  • be able to simulate arbitrary user-defined robots in three-dimensional space1.
  • includes a physical model which is based on rigid body dynamics.
  • allow an extensive flexibility in building accurate models
  • follows an user-oriented approach by including several mechanisms for visualization, direct actuator manipulation, and interaction with the simulated world.

Footnotes:

1 Tim Laue, Kai Spiess, and Thomas Rofer SimRobot – A General Physical Robot Simulator and its Application in RoboCup

2 http://www.robocup.cl/uchilsim/

3 http://www.cs.cmu.edu/~robosoccer/ubersim/

4 http://playerstage.sourceforge.net/index.php?src=index

5 http://www.cyberbotics.com/

6 http://www.is.aist.go.jp/humanoid/openhrp/

2012-06-02 16:10:55 CEST © Xu Yuan (xuyuan.cn@gmail.com) Proudly powered by Org version 7.8.10 with Emacs version 24. Validate XHTML 1.0