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Swarm simulation
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Testing your installation #23

Closed osrf-migration closed 8 years ago

osrf-migration commented 8 years ago

Original report (archived issue) by Pat Cappelaere (Bitbucket: cappelaere).

I am trying to run on Mac OSX 10.11.2 I built the swarm client library and I am trying to test the installation

gzserver --verbose worlds/ground_simple_2.world
Gazebo multi-robot simulator, version 6.5.1
Copyright (C) 2012-2015 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 192.168.1.10
[Msg] BrokerPlugin::ReadSwarmFromSDF: 3 swarm members found

It just hangs... and does not display the Neighbors messages. Am I missing something else to run in the background? [Note: Install says ns-3 is not required yet. But then says to follow the instructions described in the ns-3 installation tutorial. I went back and built ns-3-allinone/ns-3-dev... hummm] Thanks, Pat.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

ns-3 is not needed. I've update the installation tutorial.

Did you compile and install the example directory as described in the tutorial?

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

osrf-migration commented 8 years ago

Original comment by Pat Cappelaere (Bitbucket: cappelaere).

Yes I did. Example is actually running pretty far but it looks like the swarm members are not communicating.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

The last version of the controller example doesn't print the neighbors on the console. You can go ahead and uncomment lines 162-169 in example/TeamControllerPlugin.cc to show this information in each update cycle.

#!python

// Uncomment the following block to display the list of neighbors.
// if (myNeighbors.empty())
//   std::cout << "[" << this->Host() << "] Neighbors: EMPTY" << std::endl;
// else
// {
//   std::cout << "[" << this->Host() << "] Neighbors:" << std::endl;
//   for (auto const &neighbor : myNeighbors)
//     std::cout << "\t" << neighbor << std::endl;
// }
osrf-migration commented 8 years ago

Original comment by Pat Cappelaere (Bitbucket: cappelaere).

Hi Carlos, It would be great if the examples outputs could match the installation guide without having to dink with the code. Since I have no idea what they do... this makes it hard to check if my installation is working or not. I have no idea what a BooController is or does. It does not look like it even generates a boo anymore. Am I right? The TerrainTestPluggin.cc is looking for a terrain.csv and elevation.csv. How do they get created? Is this documented somewhere? Sorry for all these questions. Pat.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

I have updated the code and the installation tutorial. Now, you should just see a message showing that the default team controller was successfully loaded:

#!python
[Msg] Waiting for master.
[Msg] Connected to gazebo master @ http://127.0.0.1:11345
[Msg] Publicized address: 172.23.1.7
[Msg] BrokerPlugin::ReadSwarmFromSDF: 3 swarm members found
[Msg] [192.168.3.1] TeamController plugin loaded succesfully
[Msg] [192.168.3.2] TeamController plugin loaded succesfully

The BOO controller should be generated when you compile the example directory.

Do not worry about TerrainTestPlugin, that's for our internal testing.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

@cappelaere Is there something pending to do related with this issue?

osrf-migration commented 8 years ago

Original comment by Pat Cappelaere (Bitbucket: cappelaere).

Hi Carlos, I would recommend something a little better to test the installation than a program that prints a few lines and then hangs. I would have loved to see the three drones trying to find the lost person, find that person and exit cleanly. It would been nice to see the drones going over some terrain to get a feel for the capability. This would have been a great step to start. Just my two cents. Thanks, Pat.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

The rest of the tutorials are covering different aspects of the vehicle capabilities and explain how to use the API for the specific features discussed in the tutorial.

Tutorial 7 exercises a more complete set of features in the line of your suggestion. They search the lost person, relay messages among the members of the team and communicate with the BOO.

osrf-migration commented 8 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

Installation tutorial updated.