Marble Madness - Simulator Node

• Marble Madness - Simulator Node
  • How to install all the dependencies
  • Parameters
  • See the demo
  • Extra notes about the code

The main code we need to care about is stored in the /ball1 folder. Detailed explanation see notes.txt.

How to install all the dependencies

1. Download ode and put it somewhere (hopefully not your /Downloads folder)
2. cd into the ode folder, then run ./configure --enable-double-precision. Note the double precision here that takes me (Yanda) an hour to debug
3. edit drawstuff/src/drawstuff.cpp, change line #79 to #define LIGHTY (-0.4f)
4. make then sudo make install
5. sudo cp -rp include/drawstuff /usr/local/include/
6. cd drawstuff/src/
7. sudo cp libdrawstuff.la .libs/libdrawstuff.a /usr/local/lib/

Parameters

• time_step: the time step for the simulator to go forward. If it is too small, it will miss some collision. If it's too large, it will be too slow
• obstacle_file: the path to the json file that contains the information about the whole world setup. This json file should be created by the box-2d optimizer.

See the demo

1. git clone this repo into your catkin workspace /src folder
2. cd into catkin workspace, then catkin_make
3. roslaunch marble_simulator_ode default_simulator.launch

Extra notes about the code

• the CMakeLists.txt is a masterpiece