argos3-pipuck

ARGoS3 Plug-in for the pi-puck

Compiling the code

Dependencies

Make sure you have ARGoS >= 3.0.0-beta56 installed. You will also need a version of gcc >= 6.1.0 for the simulator, and >= 9.1.0 to build for a robot.

If you have ARGoS installed system-wide

Commands:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ../src
make
sudo make install

If you have ARGoS installed locally

Make sure your environment variables are set up properly. If you haven't set them up, set them up in bash like so (or add them to the end of your ~/.bashrc file):

export LD_LIBRARY_PATH=path/to/argos3_install/lib/argos3/:$LD_LIBRARY_PATH
export PKG_CONFIG_PATH=path/to/argos3_install/lib/pkgconfig/:$PKG_CONFIG_PATH
export PATH=path/to/argos3_install/bin:$PATH

Next do the following

mkdir build
cd build
cmake -D CMAKE_INSTALL_PREFIX=/DIR -DCMAKE_BUILD_TYPE=Release ../src
make
sudo make install

As you’ll be using custom models, you need to make sure ARGoS is looking for them in the correct directory. (For more information on this, see the README for ilpincy/argos3) If you’re using Linux, you need to edit $HOME/.config/Iridia-ULB/ARGoS.conf with the following:

[MainWindow]
#
# other stuff
#
icon_dir=/PATH/TO/argos3/src/plugins/simulator/visualizations/qt-opengl/icons/
texture_dir=/PATH/TO/argos3/src/plugins/simulator/visualizations/qt-opengl/textures/
model_dir=/PATH/TO/argos3/src/plugins/simulator/visualizations/qt-opengl/models/
#
# more stuff
#

On Mac, write the following into your command line:

$ defaults write info.argos-sim.ARGoS MainWindow.texture_dir -string "/PATH/TO/argos3/src/plugins/simulator/visualizations/qt-opengl/textures/"
$ defaults write info.argos-sim.ARGoS MainWindow.model_dir -string "/PATH/TO/argos3/src/plugins/simulator/visualizations/qt-opengl/models/"
$ defaults write info.argos-sim.ARGoS MainWindow.icon_dir -string "/PATH/TO/argos3/src/plugins/simulator/visualizations/qt-opengl/icons/"
$ killall -u YOURUSERNAME cfprefsd

substituting /PATH/TO/ with the path to your ARGoS installation and and USERNAME with your own username.

You should now be able to run the pipuck example with

argos3 -c path/to/argos3-pipuck/build/testing/pi-puck/test_pipuck.argos

Testing the code

You can check that the plugin has been properly installed by running the following command

argos3 -q pipuck

There is a demo that loads a lua controller that shows how to drive the robot around, how to use the ground sensors, and how to control the LEDs. You can run this with the following command from your argos3-pipuck/ directory:

argos3 -c src/testing/pi-puck/simulator/experiment/test_pipuck_lua.argos

Finally, a second demo that uses a c++ controller exists, using the same pathfinder algorithm as the lua test. To use it, run the following command from the argos3-pipuck/ directory:

argos3 -c src/testing/pi-puck/simulator/experiment/test_pipuck_cpp.argos