USER MANUAL Project: RoboSim
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1. these files as templates you can create new files based on the applications specifications The Environment is the first module that should be started The file given as input is the Environment configuration file The command is java edu ksu cis cooprobot simulator environment Environment lt EnvironmentConfigFile gt The next two modules to be started are the 2D 3D Viewer and the GeometryClient They can be started in any order using the following commands java edu ksu cis cooprobot simulator viewer Viewer2D lt EnvHostname gt lt EnvWaitPort 3000 gt java edu ksu cis cooprobot simulator viewer Viewer3D lt EnvHostname gt lt EnvWaitPort 3000 gt java edu ksu cis cooprobot simulator geometry GeometryClient lt EnvHostname gt lt EnvWaitPort 10000 gt In the previous commands shown the EnvHostname is the hostname or IP address of the system in which Environment module is running and EnvWaitPort is the port at which the Environment is waiting for a connection with the corresponding module The RemoteControlRobot module is the next one to be started It can be done using the following command java edu ksu cis cooprobot simulator applications maze RemoteControlRobot 0 lt EnvHostname gt lt EnvWaitPort 8000 gt lt No of sonars gt lt x pos gt lt y pos gt lt RCPort gt In the previous command the EnvHostname and EnvWaitPort represent the same as mentioned in step 4 T2. USER MANUAL Project RoboSim Department of Computing and Information Sciences College of Engineering KANSAS STATE UNIVERSITY Manhattan Kansas 2005 TABLE OF CONTENTS Chapter 1 Installation Manual Chapter 2 Starting and Running Application 2 1 Configuration File Formats 2 2 Controlling Buttons on Joystick Chapter 1 Installation Manual RoboSim is a distributed system consisting of the following modules Environment GeometryClient 3D 2D Viewer RemoteControlRobot and RemoteControl These modules require the following configurations to be installed before the simulator is started 1 Check out the RoboSim project from the CVS repository The CVS is located at the server fingolfin user cis ksu edu A login is necessary to check out Download the setup file for Java3D API with runtime environment version 1 4 or 1 5 from http java sun com and install it on your system Download the joystick API version 0 6 Filename Joystick 0 6 zip from the project Joystick Driver for Java from http sourceforge net Perform the following steps for installing it a Unzip the file to location say lt JOY_PATH gt in your system b Open the RoboSim project in Eclipse Select Preferences from the Window menu Expand Java option and Build Path option Select Classpath Variables in it and create a new variable JOYSTICK_PATH pointing to the jar file lt JOY_PATH gt joystick Joystick jar c Select the Propertie
3. he next input is the size of sonar sensor array present in the robot The x pos and y pos are the starting x and y coordinates of the robot They can be used in future for any mapping applications The RcPort is the port at which the RemoteControlRobot will be waiting for a socket connection from the RemoteControl 4 Finally the RemoteControl is started using the following command java edu ksu cis cooprobot simulator applications maze RemoteControl lt RobotConfigFile gt lt EnvHostname gt In the above command the RobotConfigFile is the configuration file containing the information about the robots that will be controlled by the RemoteControl The EnvHostname is the hostname of the system in which the Environment is running Chapter 1 Configuration File Formats lt xml version 1 0 gt lt RobotInfo gt lt robot gt lt hostname gt lt IP Address gt lt hostname gt lt port gt lt RCPort gt lt port gt lt name gt lt Robot Name gt lt name gt lt primary gt lt 1 0 gt lt primary gt lt robot gt lt Robot Info gt Figure 1 RobotConfigFile Format Figure 1 shows the general format of a RobotConfigFile given as input to the RemoteControl The information that should be specified in the file are the Hostname IP Address of the RemoteControlRobot system the Port at which the RemoteControl connects to it the Robot Name and a l to indicate this robot is primary else a 0 Only one RemoteC
4. obot gt lt shape gt lt object gt lt surface gt lt world gt Figure 2 EnvironmentConfigFile Example Figure 2 shows an example for the EnvironmentConfigFile This particular example contains the information about a robot named Gold1 facing an initial angle of 0 Oradians at location 10 90 5 with a radius of 3units a height of 10 units temperature of 0 degrees and is not stationary It has a laser range finder with ID 3 RANGE 20 the position relative to the robot is 1 5 0 3 The parameters for the stationary objects are also specified in a similar manner but sensor section will not be present and the tag lt robot gt will be replaced by lt primative gt and a value of 1 for the lt stationary gt tag Chapter 2 Controlling Buttons on Joystick The Joystick buttons that are used for controlling the robot motions and their corresponding actions are BUTTON 2 Send CheckWin message to Environment BUTTON 3 Accelerate the robot BUTTON 4 Decelerate the robot Joystick Handle moved left Turn the robot left Joystick Handle moved right Turn the robot right
5. ontrolRobot specified in the file can have a 1 value in the primary tag lt xml version 1 0 gt lt world gt lt surface gt lt type gt smooth lt type gt lt size gt lt xmin gt 500 lt xmin gt lt xmax gt 500 lt xmax gt lt ymin gt 500 lt ymin gt lt ymax gt 500 lt ymax gt lt size gt lt object gt lt shape gt lt robot gt lt cylinder gt lt direction gt 0 0 lt direction gt lt name gt Gold1l lt name gt lt x gt 30 0 lt x gt lt y gt 0 0 lt y gt lt z gt 0 0 lt z gt lt radius gt 10 0 lt radius gt lt height gt 1 0 lt height gt lt color gt 1 0 1 0 1 0 lt color gt lt hot gt 0 lt hot gt lt stationary gt 0 lt stationary gt lt cylinder gt lt sensor gt lt id gt 1 lt id gt lt type gt heat lt type gt lt range gt 15 lt range gt lt sensor gt lt sensor gt lt id gt 2 lt id gt lt type gt sonar lt type gt lt mode gt 2 lt mode gt lt position gt lt x relative gt 1 5 lt x relative gt lt y relative gt 0 0 lt y relative gt lt z relative gt 3 0 lt z relative gt lt range gt 15 lt range gt lt position gt lt sensor gt lt sensor gt lt id gt 3 lt id gt lt type gt laser lt type gt lt position gt lt x relative gt 1 5 lt x relative gt lt y relative gt 0 0 lt y relative gt lt z relative gt 3 0 lt z relative gt lt dir relative gt 0 0 lt dir relative gt lt range gt 20 lt range gt lt position gt lt sensor gt lt r
6. s option in the Project menu and select the Java Build Path option In the Libraries tabbed pane select the Add Variable to add the JOYSTICK_PATH variable created Close it and rebuild the whole project There are two bat files in lt RoboSim installation dir gt RoboSim scripts windows namely Remote bat and Maze2 bat The Remote bat starts the Remote Control application using the OpHo2_1 xml as the EnvironmentConfigFlle and Maze2 bat starts the Maze application using the Maze2 xml as the EnvironmentConfigFile These xml files are present in the lt RoboSim Workspace gt RoboSim TestLoadFiles Environment directory 1 l i Server will be moved to macr user cis ksu edu in future Chapter 2 Starting and Running Application After installing the system the following can be used as a step by step procedure for starting the simulator The simulator consists of a minimum of four modules that need to be started They are the Environment GeometryClient 3D 2D Viewer RemoteControlRobot and RemoteControl Started in the given order The RoboSim scripts directory contains the executable files for Windows and Linux based systems They are written to load pre defined environment configurations Samples of the EnvironmentConfigFile are located in the RoboSim TestLoadFiles Environment directory e g OpHol xm1 The RobotConfigFile given to the RemoteControl is also located in this directory e g Robot Info xml Using
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