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buzz_argos [2018/03/18 23:30] – [ARGoS + Buzz: Basic information] rootbuzz_argos [2018/03/18 23:34] (current) – [Debugging Buzz Programs] root
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 Compile and install Buzz following the instructions reported in the [[https://github.com/MISTLab/Buzz|GitHub page]]. Make sure to compile Buzz **after** having installed ARGoS, so the compilation scripts will also compile the ARGoS integration code. Compile and install Buzz following the instructions reported in the [[https://github.com/MISTLab/Buzz|GitHub page]]. Make sure to compile Buzz **after** having installed ARGoS, so the compilation scripts will also compile the ARGoS integration code.
  
-==== ARGoS + Buzz: Basic information ====+==== Library Configuration ====
  
 The Buzz integration library for ARGoS is composed of two elements: The Buzz integration library for ARGoS is composed of two elements:
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   - A set of ARGoS controllers. At the moment, available controllers include one for the [[http://www.swarmanoid.org/swarmanoid_hardware.php.html|foot-bot]], one for the Khepera IV robot (both wheeled robots), and one for the [[http://pleiades.ca|Spiri]] (a commercial quad-rotor). More can be added easily by subclassing ''CBuzzController'', defined in ''$PREFIX/include/buzz/argos/buzz_controller.h''. ''$PREFIX'' depends on your system and is usually ''/usr'' or ''/usr/local''.   - A set of ARGoS controllers. At the moment, available controllers include one for the [[http://www.swarmanoid.org/swarmanoid_hardware.php.html|foot-bot]], one for the Khepera IV robot (both wheeled robots), and one for the [[http://pleiades.ca|Spiri]] (a commercial quad-rotor). More can be added easily by subclassing ''CBuzzController'', defined in ''$PREFIX/include/buzz/argos/buzz_controller.h''. ''$PREFIX'' depends on your system and is usually ''/usr'' or ''/usr/local''.
  
-  - A special definition of ARGoS' QtOpenGL user functions, which allow Buzz scripts to draw in the OpenGL visualization of ARGoS. With these, a developer can [[#writing_debug_information|write debugging information on top of each robot]].+  - A special definition of ARGoS' QtOpenGL user functions, which allow Buzz scripts to draw in the OpenGL visualization of ARGoS.
  
 To have ARGoS find the Buzz integration library in case you installed it in a non-default location, set the environment variable ''ARGOS%%_%%PLUGIN%%_%%PATH''. This variable is a '':''-separated list of directories in which ARGoS looks for libraries before launching an experiment. For instance: To have ARGoS find the Buzz integration library in case you installed it in a non-default location, set the environment variable ''ARGOS%%_%%PLUGIN%%_%%PATH''. This variable is a '':''-separated list of directories in which ARGoS looks for libraries before launching an experiment. For instance:
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 If you installed Buzz without specifying a custom installation prefix (e.g., using only ''cmake -DCMAKE%%_%%BUILD%%_%%TYPE=Release ../src; make; make install''), you don't need to set ''ARGOS%%_%%PLUGIN%%_%%PATH''. If you installed Buzz without specifying a custom installation prefix (e.g., using only ''cmake -DCMAKE%%_%%BUILD%%_%%TYPE=Release ../src; make; make install''), you don't need to set ''ARGOS%%_%%PLUGIN%%_%%PATH''.
  
-=== Defining an ARGoS experiment file ===+==== Defining an ARGoS experiment file ====
  
 To use ARGoS and Buzz together, define your ''.argos'' experiment file as usual. To use ARGoS and Buzz together, define your ''.argos'' experiment file as usual.
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 </code> </code>
 +
 +Always make sure the parameters ''arena/<robot>/rab%%_%%data%%_%%size'' are set to relatively large values, such as 100 bytes as reported in the above examples.
  
 If you want ARGoS to start with a Buzz script already loaded, you can specify that in the ''<params />'' tag of the robot controller. The above example for the foot-bot, for example, becomes: If you want ARGoS to start with a Buzz script already loaded, you can specify that in the ''<params />'' tag of the robot controller. The above example for the foot-bot, for example, becomes:
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 $ argos3 -c myexperiment.argos $ argos3 -c myexperiment.argos
 </code> </code>
- 
-Make sure the parameters ''arena/<robot>/rab%%_%%msg%%_%%size'' are set to relatively large values, such as 100 bytes as reported in the above examples. 
  
 ==== Debugging Buzz Programs ==== ==== Debugging Buzz Programs ====
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   * ''debug.trajectory.disable()''   * ''debug.trajectory.disable()''
     * disable trajectory tracking     * disable trajectory tracking
-  * debug.trajectory.clear()+  * ''debug.trajectory.clear()''
     * delete all the trajectory points     * delete all the trajectory points
  
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     * ''(x0,y0,z0)'' and ''(x1,y1,z1)'' are expressed wrt the robot reference frame     * ''(x0,y0,z0)'' and ''(x1,y1,z1)'' are expressed wrt the robot reference frame
     * ''(r,g,b)'' is the color of the vector (0-255 for each value)     * ''(r,g,b)'' is the color of the vector (0-255 for each value)
-  * debug.rays.clear()+  * ''debug.rays.clear()''
     * delete all the rays     * delete all the rays
  • buzz_argos.1521415837.txt.gz
  • Last modified: 2018/03/18 23:30
  • by root