ARGoS-RVR README

What is ARGoS-RVR?

ARGoS-RVR is a plugin that enables the use of the RVR robot in ARGoS. ARGoS-RVR contains the software modules for both the physical robot and its simulated version. Therefore, the user can develop a control software for the RVR and test it in a virtual environment and then port the same control software, without modifications, on the real RVR. In order to be used on the real RVR, the plugin requires the robots to be equipped with a Raspberry Pi as microcontroller.

This currently implements :

• Ground color sensor

• Wheels actuator

• RGB LEDs actuator

• Proximity sensors

• LIDAR

• IMU sensor

This was tested and developed under ARGoS 3 beta 48, with Ubuntu 20.04.

Architecture

src/
├─ plugins/
│  ├─ robots/
│  │  ├─ rvr/
│  │  │  ├─ control_interface/
│  │  │  ├─ simulator/

• The control_interface directory contains the definition of all sensors and actuators. These are the interfaces that will be included in the controllers.

• The simulator directory includes :

  • The 3D model and material of the robot, respectively in sphero_rvrOBJ.h and sphero_rvrMTL.h

  • The physics model of the robot, in dynamics2d_rvr_model.h/.cpp

  • The main RVR entity that is instantiated in the simulator in rvr_entity.h/.cpp

  • Every implementation of simulated sensors and actuators

Downloading ARGoS-RVR

You can download the development sources through git:

$ git clone https://github.com/rafftod/argos3-rvr.git argos3-rvr

Compiling ARGoS-RVR

Requirements

Before executing the following commands, you need to download, compile, and install argos3: https://github.com/ilpincy/argos3

Compiling the code

The compilation of ARGoS is configured through CMake.

Compiling and installing the plugin

$ cd argos3-rvr
$ mkdir build
$ cd build
$ cmake ../src
$ make
$ sudo make install

If you wish to load the library without installing: $ export ARGOS_PLUGIN_PATH=build_simrvr/plugins/robots/rvr