User CL Simulation Testing Setup
This setup is very similar to the tutorial on setting up a local environment for development documented in our documentation.
As such you can lookup some of the needed requirements there.
have an LDAP mafiasi account for access to the CLs
have ros2 aliases setup (see linked docs)
have github ssh access setup for bitbots_meta (see linked docs)
1. Setup and download our software
SSH into the
cl0*with your mafiasi user
setup bitbots_meta on nvme nas share
cd /srv/ssd_nvm/ mkdir -p "$USER/colcon_ws/src" cd "$USER/colcon_ws/src" git clone firstname.lastname@example.org:bit-bots/bitbots_meta.git && cd bitbots_meta make pull-init
setup a python virtualenv on the nvme share for faster
cd "/srv/ssd_nvm/$USER" python -m virtualenv env source env/bin/activate pip install -r colcon_ws/src/bitbots_meta/requirements/dev.txt
set PATH and COLCON_WS (see section 5), but in this case
COLCON_WS="/srv/ssd_nvm/$USER/colcon_ws"as we are not working in our
2. Compile the packages
If while testing you are changing code or updating
this step needs to be done again.
For compilation of the whole meta repository run
cba, which is an alias for:
cd $COLCON_WS; colcon build --symlink-install --continue-on-error
After a successful run, before we are able to use any ros commands we now need to source colcon built sources
sa, which is an alias for:
source "/opt/ros/iron/setup.$SHELL" && source "$COLCON_WS/install/setup.$SHELL"
3. Run Webots Simulation
We can start the Webots simulator with the following command:
rl bitbots_bringup simulator_teamplayer.launch game_controller:=false
This should start the simulation environment in the Webots simulator, while also starting all necessary
nodes of the robot software (walking, vision, etc.).
In the simulator we should see a field with a single robot.
game_controller:=false we ensure, that the game_controller_listener is not started as well, but instead
we will simulate the current gamestate by our own script (in another terminal):
rr humanoid_league_game_controller sim_gamestate.py
Which allows us to simulate the current gamestate and different phases of the game. Now everything is ready for some simulation testing.
4. Testing and Debugging
By changing the simulated gamestate and seeing how the robot reacts, we can test our behavior.
If there are issues with the robots behavior, they most likely have to do with DSD configuration or different
parallelism handling in ROS 2.
To be able to visualize the current DSD execution, we can start
rqt and in the
Plugins menu select
RoboCup -> DSD-Visualization. This will show us the current DSD execution and can help in finding deadlocks
or behavior execution logic issues.
TODO: extend this section