Skip to content

setup_external.md

Latest commit

 

History

History
80 lines (57 loc) · 2.73 KB

setup_external.md

File metadata and controls

80 lines (57 loc) · 2.73 KB
Raw

External setup: grSim, GameController, AutoReferee, SSL Vision

None of this is needed for everyday work: rsim and the in-process CustomReferee run everything headless with no external process, and behave the same across rsim, grSim and real mode. Set these up only to run against grSim, the official competition software, or real robots.

grSim

  1. Go to the grSim repo and follow its installation steps.

  2. Change the configuration to the values highlighted below:

    grsim_setup

  3. To run it, execute ./bin/grSim in the cloned repo.

AutoReferee and the GameController

  1. Make sure grSim is set up and can be called from a terminal.

  2. git clone the AutoReferee repo into a folder named AutoReferee/ in the repository root.

  3. Change DIV_A to DIV_B in AutoReferee/config/moduli/moduli.xml:

        <globalConfiguration>
        <environment>ROBOCUP</environment>
        <geometry>DIV_B</geometry>
    </globalConfiguration>

  4. Get the latest compiled game controller, rename it to ssl-game-controller, and save it in a ssl-game-controller/ directory in the repository root.

Both directories are gitignored.

Starting the external test environment

Only needed to test against the official referee software; the in-process CustomReferee needs none of this. With grSim, the GameController and AutoReferee set up, start each in its own terminal from the repository root:

grSim
cd ssl-game-controller && ./ssl-game-controller
cd AutoReferee && ./gradlew run

Then run your own strategy. The GameController's web UI is at http://localhost:8081/#/match (this repo's dashboard is :8080).

SSL Vision for real testing (WSL)

  1. Connect the vision Linux laptop and your own laptop to the same network (an external hotspot).

  2. Allow inbound UDP packets through the vision port. With admin privileges, in PowerShell:

    New-NetFirewallRule -DisplayName "Allow Multicast UDP 10006" -Direction Inbound -Protocol UDP -LocalPort 10006 -Action Allow

  3. Type %USERPROFILE% into Windows + R and add a .wslconfig file there (file type WSLCONFIG):

    [wsl2]
networkingMode=mirrored

  4. Restart WSL with wsl --shutdown, then check the connection:

    sudo tcpdump -i eth1 -n host 224.5.23.2 and udp port 10006

    If you see UDP packets, everything is working.

For the robot radio and controllers see utama_core/team_controller/README.md.