Getting started

Prerequisite

Check environment

Make sure if graphic driver is installed in your machine.

Install prerequisite libraries

sudo apt-get install libgl1 libvulkan1 libc6-dev libxcursor1 libminizip-dev libgdiplus

Troubleshooting for Unity Editor on Ubuntu 22.04/21.04

When you got this message in editor's console.

No usable version of libssl was found
Aborted (core dumped)

Install these.

wget -q http://security.ubuntu.com/ubuntu/pool/main/o/openssl1.0/libssl1.0.0_1.0.2n-1ubuntu5.10_amd64.deb
sudo dpkg -i libssl1.0.0_1.0.2n-1ubuntu5.10_amd64.deb 

When you got this message in editor's console.

DllNotFoundException: libdl.so assembly:<unknown assembly> type:<unknown type> member:(null)

Do this.

sudo apt install --reinstall libc6
sudo ln -s /usr/lib/x86_64-linux-gnu/libdl.so.2 /usr/lib/x86_64-linux-gnu/libdl.so

When you got this error message in unity debugging log

debugging log

tail -f ~/.config/unity3d/LGE.CTO.AdvancedRoboticsLab/CLOiSim/Player.log

error message

Failed to load image: The type initializer for 'System.Drawing.GDIPlus' threw an exception.
Fallback handler could not load library /home/nav/cloisim/CLOiSim-linux-4.3.0/CLOiSim_Data/MonoBleedingEdge/x86_64/libgdiplus.so.0
Fallback handler could not load library /home/nav/cloisim/CLOiSim-linux-4.3.0/CLOiSim_Data/MonoBleedingEdge/x86_64/libgdiplus.so.0.so

Please check if below library is installed in advance.

sudo apt install libgdiplus

Run CLOiSim

Editor Mode

TBD

Binary Mode

world file should be located in 'CLOISIM_WORLD_PATH' path

Set environment path like below

$ export CLOISIM_FILES_PATH="/home/Unity/cloisim/sample_resources/media"
$ export CLOISIM_MODEL_PATH="/home/Unity/cloisim/sample_resources/models"
$ export CLOISIM_WORLD_PATH="/home/Unity/cloisim/sample_resources/worlds"

Option A

$ ./CLOiSim.x86_64 -world cloisim.world

Option B

you can execute './run.sh' script in release binary version.

$ ./run.sh cloisim.world

After run CLOiSim

• 'cloisim_ros' ros2 packages for transporting sensor data are required.

• Run bringup node in 'cloisim_ros' ros2 packages

• And have fun!!!