DIABIO-SIM-ENV

The basic webots simulation environment for DIABLO.

Noted that the environment has no controller, but you can design your own controller to control the robot.

---

Platform Support

• Ubuntu 20.04/22.04 (64-bit PC (AMD64) desktop)
• Windows 10

Dependencies

• Docker (if you use docker to install, this is necessary)

Use without Docker

Use this script to install Webots,gdbgui,and clonthe diablo-A1 project without controller

Run the following in the bash :

./scripts/webots_install.sh

---

Use Docker

1. Install nvidia driver

./scripts/docker_install.sh

2. Imort the docker image (recommended by rmecboy)

docker pull registry.cn-guangzhou.aliyuncs.com/ddt_robot/diablo_sim:v1

3. Use docker container（run the script in your local host）

• This script will build the container diablo-sim，open webots ,load .wbt and startsimulation

./scripts/create_container.sh

You shall see this if everything is normal.

• Entr the docker container

./scripts/enter_container.sh

• Exit the docker container（即diablo-sim）

./scripts/halt.sh

Run webots with docker

use the following command to run webots

webots

Step1:Load the webots model

​

Step2:Run the simulation

2.2.1 Enter the makefile directory :

cd /opt/webots-sim-projects/sim-webots/diablo_A1/controllers/diablo_webots/

2.2.2 compile the code

make debug

2.2.3 Run the simulation, you shall see the robot fall down. Now you can start to design your own controller.

./diablo_webots

Windows Configuration

1.Install gcc-arm-none-eabi

• https://developer.arm.com/downloads/-/gnu-rm

• Remeber to choose Add path to envieonment variable

2.Install minGW

• https://sourceforge.net/projects/mingw-w64/files/Toolchains%20targetting%20Win64/Personal%20Builds/mingw-builds/8.1.0/

• unzip and open mingw64\bin，change mingw32-make.exe to make.exe，then add the bin file to PATH.

3.Install Webots

• https://github.com/cyberbotics/webots/releases ，choose R2023a
• Add the following to PATH Webots\lib\controller

4.Install the following in VSCODE

4.1 modify launch.json

• Open VSCODE in diablo-sim-env\diablo_A1\controllers，then modify launch.json

将launch.json内容替换为如下代码

{
    "version": "0.2.0",
    "configurations": [
      {
        "type": "cppdbg",
        "request": "launch",
        "name": "Webots",
        "program": "${workspaceFolder}/diablo_webots/diablo_webots.exe",
        "stopAtEntry": false,
        "cwd": "${workspaceFolder}",
        "args": [ ],
        "environment": [],
        "externalConsole": false
      }
    ]
  }

4.2 Modify Makefile

• Open diablo_webots\Makefile

Change WEBOTS_HOME_PATH to your webots path

• then make your project to generate diablo_webots.exe

cd /d/study/liao/diablo-sim-env/diablo_A1/controllers/diablo_webots

make debug