[3] Compiling iAnt Code

Compiling iAnt Code

Once ARGoS is installed on your system. You can download the files in this repository, compile them for your system, and run the iAnt CPFA in ARGoS.

1. Download the iAnt-ARGoS files or clone this repository and unzip the folder in a directory of your choice.

   • The file and folder structure of this repository is designed to make use of the cmake build tool.
   • The example files provided by the official ARGoS website use the same file and folder structure.
     • HINT: These example files demonstrate how ARGoS can implement several common tasks done with robotics simulations.

2. From the Terminal, use the following commands to compile the iAnt CPFA code:

   $ cd iAnt-ARGoS-master  # go into the iAnt-ARGoS directory
   $ cd build              # go into the build directory
   $ cmake ..              # setup compilation with cmake
   $ make                  # compile the iAnt CPFA code
   $ cd ..                 # get out of the build directory
   

   Shell scripts can be used to automate this process, especially if you choose to run experiments without the GUI and visualization.

3. Launch ARGoS with the XML configuration file for your system:

   • for Linux systems:

     $ argos3 -c experiments/iAnt_linux.argos
     

   • for Mac systems:

     $ argos3 -c experiments/iAnt_mac.argos
     

   See the XML Configuration File page for more detailed information about the parameters you can set and how they affect the simulation.

   NOTE: Both Linux and Mac platforms essentially use the same XML file. However, one important difference is that Linux compiles *.so files and Mac compiles *.dylib files. This difference is noted in the <loop_functions> and <iAnt_controller> tags.