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RoCS

Laboratory of Robotics and Cognitive Systems

Author

Leonardo de Oliveira Ramos

Description

This framework is an instance of the RoCS Architecture.

Instructions

These instructions were tested in Arch Linux, Fedora 23 and MacOS

  • Make sure you have VREP, cmake and make installed.
  • To compile, execute the compile_pioneer_and_robotnik.sh script
  • Change the remoteApiConnections.txt file in VREP directory and make sure it has the following lines:
portIndex1_port             = 19997
portIndex1_debug            = false
portIndex1_syncSimTrigger   = true

portIndex2_port             = 19998
portIndex2_debug            = false
portIndex2_syncSimTrigger   = true
  • Open VREP and load the scene ./vrep/scene_02.ttt
  • Start the simulation pressing the play button
  • To execute the code for the Pioneer run ./pioneer_wall_tests/cmake-build-debug/pioneer_xwalk
  • To execute the code for the Robotnik run ./robotnik_follow/cmake-build-debug/robotnik_follow