RoboCup Junior Simulation - Erebus

Initial Installation (Erebus - Installation)

1. Download and install the simulation platform from
   https://cyberbotics.com/

2. Initialize or update the Erebus submodule by executing the following command in this directory

   git submodule update --init --progress

   Optionally, you can check for new Erebus release using

   cd erebus
   # List all release tags, sorted by date
   git tag --sort=committerdate --list 'v*'
   # Checkout the latest release tag (e.g. 'v23.0.4' in time of writing)
   git checkout v23.0.4

   This is normally not required, as the submodule is committed with specific hash anyway, so the command in the previous step checks-out the correct specific version. This is useful as an occasional check for new releases, to be checked out and committed as a new submodule hash.

3. Setup virtual environment based on Pipfile (using PyCharm or by executing pipenv install in this directory)

4. Run script helper_scripts/setup_environment.py using this virtual environment and follow its further instructions.

Running the Simulation

Some useful links:

• Erebus - Getting Started
• Webots Reference Manual - Nodes and API Functions

Extern Robot Controller - running directly from IDE

This method enables running Python script directly from IDE (PyCharm), with full debugging support. When Robot Controller (class Robot) is initialized, wb.wb_robot_init() call in its __init__() method ensures that the Webots simulation is running and that the controller gets connected to it.

• Erebus Remote Controller Instructions
• Webots User Guide - Running Extern Robot Controllers
• Webots User Guide - Tutorial 4: More about Controllers (30 Minutes)

1. Run helper_scripts/run_webots_for_external_controller.py. This script will run Webots (or attach to already running instance) and enable Extern Robot Controllers.

2. Run/Debug code/main.py in your preferred IDE - it will automatically connect to the Webots instance.

NOTE: You still need to load the robot definition file at least once, as described in the next section point 4.

Using Robot Window upload

1. Open one of the .wbt worlds located in erebus/game/worlds/ in Webots

2. If Erebus Simulation Control web page did open automatically in the default browser, then in the left panel, right-click on DEF MAINSUPERVISOR Robot and click Show Robot Window.

3. Click "LOAD" under Program icon () and load the run.py script.

4. Click "LOAD" under robot icon () and load the SERSy.json robot definition file.

5. Click the "Play button" to start the simulation.

As long as you don't move the code/ folder, you can just press the "Reset" and "Play" buttons, to run the simulation again - run.py will automatically reload main.py.