subCULTron project repository

HOW TO DEFINE NEW SCENARIO STRUCTURES:

• Open /subcultron_launch/data/scenario/scenario_spec.xml and define basic structures (as specified for other scenarios)

• Controller files are specified in <vehicle>/src/, e.g. amussel/src/controller_for_scenario_one.py

• Simulation specification files are located in <vehicle>/data/simulation/scenario/, e.g. amussel/data/simulation/scenario/simulation_scenario_one.xml. To generate simulation specification file, simply copy standard_simulation.xml file and modify it to meet specific scenario's needs.

TO RUN:

• Navigate to subcultron_launch/src/

roscd subcultron_launch/src

• Prepare the simulation structures (has to be done only once for each configuration):

python setup.py scenario_name apad_number afish_number amussel_number [first_index_apad] [first_index_afish] [first_index_amussel] [north_min] [north_max] [east_min] [east_max]

source ../data/simulation/simulation_config.bash

• In separate terminals, run:

roscore

roslaunch subcultron_launch standard_simulation.launch

To stop the simulation, simply press ctrl-c in the second terminal (roscore can be left running at all times).

• Start scenario simulation:

rostopic pub /scenario_start std_msgs/Bool "data: true"