Robocup Rescue Simulation Server

(Linux) Instructions to download, build and run the RoboCup Rescue Simulator (RCRS)

Software Pre-Requisites

• Git

• OpenJDK Java 21

Installation

Download project from GitHub

$ git clone git@github.com:roborescue/rcrs-server.git

Compile the project

$ cd rcrs-server

$ ./gradlew completeBuild

Execute the Rescue Simulation Server

Open a terminal window, navigate to the rcrs-server root directory and execute

$ cd scripts

$ ./start.sh -m ../maps/test/map -c ../maps/test/config

Tools

Map Editor

Open a terminal window, navigate to the rcrs-server root directory and execute

$ ./gradlew gmlEditor --args='<map file path>'

where --args=<map file path> is optional.

Example

./gradlew gmlEditor --args='maps/test/map/map.gml'

Scenario Editor

Open a terminal window, navigate to the rcrs-server root directory and execute

$ ./gradlew scenarioEditor --args='<scenario path>'

where --args=<scenario path> is optional.

Example

./gradlew scenarioEditor --args='maps/test/map'

Random Scenario

Open a terminal window, navigate to the rcrs-server root directory and execute

$ ./gradlew randomScenario --args="'<map path>' <options>"

where <map path> is the path to the map directory and <options> are the minimum and maximum value for each entity in the scenario. The <options> are optional.

Example

./gradlew randomScenario --args="'../maps/test/map' -civ 0 100 -fb 0 10 -fs 0 1 -pf 0 10 -po 0 1 -at 0 5 -ac 0 0 -refuge 0 2 -fire 0 0"

Log Viewer

Open a terminal window, navigate to the rcrs-server root directory and execute

$ ./gradlew logViewer --args="'-c' '<config file>' '<log path>'"

where <config file> is the path to the log viewer configuration file, default config/logviewer.cfg. The <log path> is the rescue log file path, default logs/log/rescue.log.

Example

./gradlew logViewer --args="'-c' 'maps/test/config/logviewer.cfg' 'logs/log/rescue.log.7z'"

osm2gml

Open a terminal window, navigate to the rcrs-server root directory and execute

$ ./gradlew osm2gml --args="'<osm map path>' '<gml map path>'"

The <osm map path> is the path to the OSM map file and the <gml map path> is the destination GML map path.

Example

./gradlew osm2gml --args="'/home/user/newmap.osm' '/home/user/newmap.gml'"

validateMap

Open a terminal window, navigate to the rcrs-server root directory and execute

$ ./gradlew validateMap --args="'<gml map path>'"

The <gml map path> is the path to the GML map file to validate. The result is written to the log, one VALIDATION_ERROR line per error followed by a VALIDATION_SAMMARY line.

VALIDATION_ERROR map=<gml map path> kind=<error kind> id=<object id> message=<message>
VALIDATION_SUMMARY map=<gml map path> errors=<number of errors>

The VALIDATION_SUMMARY line is written only when the validation is completed, and errors=0 means that no errors were found. The task failes only if the map could not be validated, for example when the file cannot be read.

Example

./gradlew validateMap --args="'maps/test/map/map.gml'"

Known Problems

Slow agent connection

If the scenario have many agents, the agents connection to the server may slow down at certain moment. To overcome this issue, you should

1. Install the rng-tools package

2. Edit the ` /etc/defaults/rng-tools` and add the line HRNGDEVICE=/dev/urandom

3. Start the rng daemon /etc/init.d/rng-tools start

Important

This instructions are valid for Ubuntu. The package name and initialization commands may change on other distributions.

Support

To report a bug, suggest improvements or request support, please open an issue at GitHub https://github.com/roborescue/rcrs-server/issues.