This library is a fork of the original Torocó repo (accessible at https://gitlab.fing.edu.uy/fbenavid/toroco) which provides an implementation of the Subsumption robot control architecture based on Lua programming language and derived tools (Toribio, Lumen).
It aims at providing new features to support the cooperative control of multi-robot systems, based on the Alliance robotic control architecture.
This library was implemented and tested on a machine running Ubuntu 18.04.4.
The required installations to run ALLIANCE are the same that are required by Toroco, so we recommend the (Toroco full installation guide).
In case you are not following the installation guide for Toroco, you will need to install the following dependencies:
- Lua 5.1.5, you can get the source from https://www.lua.org/ftp/
- Nixio which Toribio has as a dependency
Afterwards you should clone this repo and then also clone Toribio and Lumen inside of the Toroco folder:
git clone git@github.com:MottiniMauro/alliance.git
cd toroco
git clone git://github.com/xopxe/Toribio.git
mv Toribio toribio
cd toribio
git clone git://github.com/xopxe/lumen.git
Some of the examples provided as part of this project also include other dependancies that are required to run them such as:
- Morse Simulator: https://www.openrobots.org/morse/doc/stable/user/installation.html
- Blender: https://www.blender.org/download/
- Python (3.3 or +): https://www.python.org/downloads/
- LuaSocket: http://w3.impa.br/~diego/software/luasocket/home.html