A physics-based 3D simulator for Robotican's Krembot robot. Original code by Elhay Rauper for Bar Ilan University and the ISF Smart Swarms center. Uses and modifies (and adds to) the Argos multi-robot simulator.
-
This simulation was tested and intended to work under Linux Ubuntu 16.04.6 LTS/Mint 18.4
-
Whenever
krembot_simdirectory mentioned in this README file, it referes to the root directory of this package.
There are 3 main directories in the package:
- argos3 - contain argos simulation files
- krembot - contain krembot library simulation files
- krembot_ws - this folder is an example workspace for creating krembot programs. You copy it to your own workspace (see Creating New Programs.
Run the installation script:
./krembot_sim/krembot/scripts/install.sh
Run the uninstall script:
./krembot_sim/krembot/scripts/uninstall.sh
This file contain argos enviorment variables, and should be sourced before using argos3. If installation script finished successfuly, it also automatically source setup_env.sh file for the first time. After that, whenever you open new terminal, you have to source the file again. This can be done by writing:
source ./krembot_sim/krembot/scripts/setup_env.sh
To avoid sourcing the file for every new terminal manually, you can add the source command to your .bashrc file.
The docs/ folder contains documentation. Including the following topics:
- Install Krembot Woekspace
- Create and run new krembot program
- Use multiple controllers in the same program
- Porting files from real Krembot to simulator, and vice-versa
- Calibrating wheels speed
- Contribute
- Known issues
To learn more about controllers, configuration files and how argos works, refer to Argos documentation, the Argos github repository, and the Argos robot examples.