Table of contents
  1. WisTex-United-system
  2. Installation
    1. MacOS
      1. Required Dependency
      2. Setting up the Working Copy
      3. Running project on SimRobot or Nao Physical Robots
    2. Linux
      1. Required Dependency
      2. Setting up the Working Copy
      3. Running project on SimRobot or Nao Physical Robots
    3. Windows

WisTex-United-system

This page will go through the environment setup for WisTex-United-system for Mac, Linux, and Windows, and how to deploy the project on SimRobot and NAO Robot.

Installation

  • WisTex-United-system is the BadgerRL internal fork of BHumanCodeRelease, which replaced some parts to be compatible with RL policy.
  • The environment setup follows the B-Human Documentation, with minor revision
  • Version not matter too much as long as you can successfully running your project on SimRobot.

MacOS

Required Dependency

  • macOS 14.6+ (Intel or ARM)
  • Xcode 16.0
    • Xcode must be executed at least once to accept its license and to install its components.
  • CMake 3.26.3
    • Use a “macOS 10.13 or later” .dmg from here or install a cmake that can be found in the $PATH (e. g. via Homebrew).
    • If you want to install a more specific version or check all available versions, please go here.

Setting up the Working Copy

  • Cloning the Repository
    • As the WisTex-United-system repository uses submodules, it must be cloned using git clone --recursive. Downloading it as zip or tar.gz does not work.
    • On macOS, the working copy must be either located outside of folders protected by macOS (e.g. Desktop, Documents, Downloads, etc.), or you have to grant full disk access to /bin/bash.
    • All paths mentioned in this documentation will be relative to the main directory of the working copy.

Running project on SimRobot or Nao Physical Robots

See B-Human SimRobot and Nao Robot for more information

  1. Creating Project Files / Compiling the Code
    • Run Make/macOS/generate and open the Xcode project Make/macOS/B-Human.xcodeproj. The schemes in the toolbar allow building the targets mentioned in this section in different configurations.
    • On ARM machines, there is also the option to run Make/macOS/generate -r to generate an Xcode project that will still compile Intel code, which runs via Rosetta 2.
  2. Open Xcode project from Make/macOS/B-Human.xcodeproj
  3. Select the environment you want to deploy your project
    • Nao mode will deploy the code in physical robot, you need to turn on a robot and connect to Lab (1351 CS building) LAN SPL_WISC
    • SimRobot will open up simulation environment. See here to learn about Debug/Develop/Release image.png
  4. Click the start button to launch an instance, you will need to wait for building complete
    • SimRobot: Refer here and SimRobot Code Overview to learn more about SimRobot
      • You need to select a scene file .ros2 to open a pre-defined robot soccer. A good first scene to try is OneTeamFast.ros2. Feel free to refer to any .ros2 and .con under Config/Scenes/ or here if you want to build your own scene. image.png
      • After open a scene, double click Console to open a console where you can write command, double click RoboCup to display the rendered environment.
        • Refer here to learn more about console command image.png
      • To start the simulation, enter the following commands in the console:
        1. To instruct the robots to prepare for a kickoff, type gc ready . The robots should walk to their kickoff positions.
        2. Once the robots have reached their kickoff positions, type gc set to tell the robots to stop moving and get ready for kickoff.
        3. Type gc playing to start a countdown after which the game will begin.
          • Entering the commands in the order above is the official way to start the game. If you don’t care about this, just type gc playing.
    • Nao Deployment: (This section will go through initial deployment, for how to handle NAO robots and further instruction, refer “How to deploy” under NAO Robots)
      • You need to go to the Lab (1351 CS building) where Nao Robots located, turn on robot(s), connect to the Lab LAN SPL_WISC.
      • If an robot is turn on, and your computer connect SPL_WISC, the line relate with the robot will have active data (the image below showing no active robots, either because not turning on robot or connect to SPL_WISC).
      • You can config setting for deployment in the right sidebar. Please Note:
        • ❗️REMEMBER to select SPL_WISC in Wireless profile before click Deploy. Otherwise, you will need to physically connect to the robot with a cable to redeploy. See “NAO Connection and File System” section under NAO Robots for instruction with cable connection.
        • ❗️In Xcode, when clicking deploy, all active robot will be deployed with the same file. If you want to deploy different files to different robot, either turn off one and deploy another, or use a linux machine to deploy with command line. mac-DeployDialogue-window.png

Linux

It is highly recommend to use the Lab Linux machine since it is already have environment setup, see here for instruction of Lab Machine

Required Dependency

  • A 64-bit Linux, e.g. Ubuntu 22.04 LTS
  • The following packages (here for Ubuntu 22.04 LTS): sudo apt install ccache clang cmake exfatprogs git graphviz libasound2-dev libbox2d-dev libgl-dev libqt6opengl6-dev libqt6svg6-dev libstdc++-12-dev llvm mold net-tools ninja-build pigz qt6-base-dev rsync xxd

Setting up the Working Copy

  • Cloning the Repository
    • As the WisTex-United-system repository uses submodules, it must be cloned using git clone --recursive. Downloading it as zip or tar.gz does not work.
    • All paths mentioned in this documentation will be relative to the main directory of the working copy.

Running project on SimRobot or Nao Physical Robots

Check SimRobot and Nao Robots for more information

  1. Compile and deploy on SimRobot
    1. Run Make/Linux/generate to generate CMake caches.
    2. Run Make/Linux/compile [<configuration>] [<target>] to compile the code (using a configuration and target from this section, Develop is the default configuration).
    3. run ./Build/Linux/SimRobot/[<configuration>]/SimRobot from the top-level directory to open SimRobot, check here or see Running project on SimRobot or Nao Physical Robots section under MacOS setup to learn how to interact with SimRobot

  2. Compile and deploy on Nao Robots (This section will go through initial deployment, for further instruction, refer “How to deploy” under NAO Robots)

    • you need to turn on your choice of robots and connect to Lab (1351 CS building) LAN SPL_WISC
    • REMEMBER to select SPL_WISC when deploying in Lab (1351 CS building). Otherwise, you will need to physically connect to the robot with a cable to redeploy.
    1. Run Make/Linux/generate to generate CMake caches.

    2. refer to Deploying the Software for deploy command

      • For example, Make/Common/deploy Release -r 3 10.0.54.3 -t 8 -w SPL_WISC -b -v 40

        1. Make/Common/deploy will compile the code
        2. Release is the [<configuration>] same as in SimRobot

        3. -r 3 10.0.54.3

          copy to ip 10.0.54.3 and set player number to 3 (one -r per robot), the 3 in ip specify robot3, the -r 3 is what we specify in our code. For example, you can call -r 5 10.0.54.3 to deploy the code of robot5 on physical robot 3

        4. -t 8 specify team 8
        5. -w SPL_WISC specify using SPL_WISC as wireless profile
        6. -b restart bhuman
        7. -v 40 set NAO’s volume as 40%

Windows

Please refer to B-Human documentation about initial setup on Windows

TODO