FAIRIS-Lite

FAIRIS-Lite is a project framework that allows you to implement navigational control logic directly on the open-source robotic simulation platform Webots. With this framework, you can create your own Webots controller without the need to set up a simulated environment or robot, as we provide all the materials required to get started.

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Requirements

To work with FAIRIS-Lite, ensure that your system meets the following requirements:

1. Python 3.10+

Windows Users:

• Important: It’s crucial to install Python 3.10+ from the Microsoft Store to avoid potential issues with PATH configurations and permissions.

• Installation Instructions:

  1. Open the Microsoft Store on your Windows PC.

  2. In the search bar, type "Python 3.10".

  3. Select Python 3.10 from the list of results.

  4. Click Get or Install to download and install Python 3.10 on your machine.

     • Microsoft Store Python 3.10

  5. Once installed, verify the installation by opening Command Prompt and typing:

  python3 --version

  • This should return Python 3.10.x if installed correctly.

Linux Users:

• Ensure you have Python 3.10+ installed. Most distributions can install it using the package manager:

  sudo apt-get install python3.10

2. Cyberbotics Webots R2023b

FAIRIS-Lite works in conjunction with Webots version R2023b. Ensure you install Webots correctly:

Linux Users:

• Do not install Webots from the Snap packaging due to known compatibility issues. Instead, use the .deb package or tarball for installation.
• Installation Instructions:
  • Follow the detailed installation guide here.

Windows and macOS Users:

• Download and install Webots R2023b from the official Cyberbotics website.

3. Git

Ensure that you have Git installed to clone the FAIRIS-Lite repository:

• Windows: Download and install Git from git-scm.com.

• Linux: Install Git via your package manager:

  sudo apt-get install git

• macOS: Install Git via Homebrew:

  brew install git

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Setup Instructions

Follow these steps to set up FAIRIS-Lite on your local machine:

1. Clone the Repository

Clone this repository onto your device. There are numerous ways to achieve this, and you can decide which option is best for you. If you plan to use this repo for a course or an extended period, we recommend that you clone the repo and perform pulls when an update is pushed. A complete guide on how to clone GitHub repositories can be found here.

Clone command:

git clone https://github.com/biorobaw/FAIRIS-Lite.git

2. Set Up the Python Environment

a. Open a Terminal Session

• MacOS: Press Command + Space Bar, type "Terminal" in Spotlight, and click to open the app.
• Linux: Press Ctrl + Alt + T to instantly launch a Terminal window.
• Windows: Press the Windows Key + R, type cmd.exe, and press Enter.

b. Navigate to the Project Directory

Change your directory to the root of the FAIRIS-Lite project:

cd path_to/FAIRIS-Lite

c. Create a Python Virtual Environment

Run the provided script to create a Python virtual environment using Python 3.10+ and install all necessary dependencies.

python3 create_venv.py

This script will:

• Search for Python 3.10+ on your system and use it to create a virtual environment.
• Install all required libraries in the virtual environment.
• Add paths to the fairis_tools and fairis_lib packages.

3. Activate Python Virtual environment

After creating the virtual environment, you need to activate it before installing the FAIRIS-Lite packages.

Windows:

FAIRIS-LITE\ $ venv\Scripts\activate

macOS/Linux:

FAIRIS-LITE$ source venv/bin/activate

You should now see your terminal prompt change to indicate that the virtual environment is active (e.g., (venv) at the start of your command line).

4. Install FAIRIS-Lite Packages

a. With the virtual environment activated, install the FAIRIS-Lite packages:

pip install -e .

This command will install the fairis_tools and fairis_lib packages, making all classes and functions available for use in your Webots controllers.

b. clean up after the installation of FAIRIS-Lite packages:

rm -r fairis_lite.egg-info/ 

This command will remove the fairis_lite.egg-info directory that are automatically generated during the installation process.

5. Configure Webots

You can configure Webots to use the correct Python environment in two ways: by running an automatic script or manually creating the necessary runtime.ini files in each controller directory.

a. Automatic Configuration

Simply run the provided script to automatically create and configure the runtime.ini files in all controller directories:

python3 add_runtime_ini.py

This script will:

• Locate all controller directories under WebotsSim/controllers/.
• Create a runtime.ini file in each directory.
• Set the Python command to the correct virtual environment's Python executable.
• Note that you will need to run this everytime you create a new robot controller.

b. Manual Configuration

If you prefer, you can manually create and configure the runtime.ini files. Follow these steps:

1. Navigate to each controller directory under WebotsSim/controllers/.
2. Create a file named runtime.ini in each directory.
3. Add the following content to the runtime.ini file:

[python]
COMMAND = path_to_your_venv/bin/python3

Example Directory Structure for Manual Configuration

Here’s an example structure showing where to place the runtime.ini files:

FAIRIS-LITE/
├── WebotsSim/
│   ├── controllers/
│   │   ├── template/
│   │   │   ├── template.py
│   │   │   ├── runtime.ini  # Manually created
│   │   ├── my_controller/
│   │   │   ├── my_controller.py
│   │   │   ├── runtime.ini  # Manually created
│   └── ...other WebotsSim files...
├── fairis_tools/
│   ├── __init__.py
│   ├── my_robot.py
│   └── ...other modules students can use...
├── fairis_lib/
│   ├── __init__.py
│   ├── environment_loader.py
│   └── ...other foundational modules...
├── setup.py
└── README.md

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PyCharm Integration (Optional)

FAIRIS-Lite supports PyCharm integration with Webots. Follow these steps to set it up:

1. Open the FAIRIS-Lite directory as a project in PyCharm.
2. Set the Python interpreter to the virtual environment created earlier.
3. Ensure the project structure includes the fairis_tools and fairis_lib directories.

For detailed instructions on configuring PyCharm with Webots, refer to this guide.

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Testing the Setup

To ensure FAIRIS-Lite is set up correctly:

1. Launch Webots and open the world file located at FAIRIS-Lite/WebotsSim/worlds/StartingWorld.wbt.
2. Verify that the Template controller is running, which should add walls and place the robot in a starting location.
3. The robot should print sensor readings and move approximately 1.5 meters before stopping.
4. Use the reset button in the Webots interface to see this process repeat.

If everything works as expected, you’re ready to start developing your robot controllers in Webots using Python.

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Additional Documentation

• Guide for Webots Controller Creation: Detailed instructions for creating a new Webots Robot Controller can be found here.
• RosBot Library Documentation: The RosBot class, which provides functions to access sensors, motors, and load objects in the simulated environment, is documented here.