Thymio

Is an open source simulator based on ARGoS framework for Thymio robotic platform. It uses an interface, which is developed using core libraries from ASEBA and DaSHEL.

Installing Thymio on a desktop computer:

This version of Thymio on a desktop computer is mainly used for simulation. First clone this repository:

git clone https://github.com/resilient-swarms/thymio

Then change directory to the repository you have cloned and create "build" directory using:

mkdir build

Then move to this directory:

cd build

Now execute:

cmake -DCMAKE_BUILD_TYPE=Release ..

If cmake cannot find your lua includes, please set the environment variable:

export LUA_DIR=<your lua include directory>

Now compile the code using:

make

Now install from binaries using:

sudo make install

You have now installed Thymio's simulator

To execute the examples: Go to the parent directory of "build".

execute:

argos3 -c src/testing/thymio_diffusion/testexperiment.argos

Or any other example present inside the testing directory.

For A Raspberry Pi :

First you should prepare the environment. You need internet connection and to configure WLAN use information from the official documentation

IMPORTANT: character encoding must be US-UTF8. Can be changed using raspi-config.

First install all dependencies for ARGoS, ASEBA:

sudo apt-get install cmake\
                        g++ \
                        git \
                        make \
                        libxml2-dev \
                        libudev-dev \
                        libdashel-dev \

It is necessary to build Aseba from source on Rasberry Pi (on Debian it is sufficient to do sudo apt-get install aseba)

First clone the 1.6.x Aseba release:

git clone -b release-1.6.x --single-branch https://github.com/aseba-community/aseba.git

change to the cloned repository

cd aseba

Create the build directory:

mkdir build_aseba
cd build_aseba

Execute cmake:

cmake ..

Then make and install:

sudo make install

Aseba is now installed on the Raspberry Pi

To build ARGoS on Raspberry Pi specifically for Thymio:

First clone ARGoS from its repository:

git clone -b 3.0.0-beta54 --single-branch https://github.com/ilpincy/argos3

Change directory to the cloned repository and create a build_thymio directory:

cd argos3
mkdir build_thymio
cd build_thymio

Execute cmake using following options:

cmake -DARGOS_BUILD_FOR=thymio -DARGOS_DYNAMIC_LIBRARY_LOADING=OFF -DARGOS_DOCUMENTATION=OFF ../src 

Then build and install ARGoS. This will only compile and build necessary libraries for the execution of the controller codes.

sudo make install

For Thymio: First clone this repository:

git clone https://github.com/resilient-swarms/thymio

Change the current directory to the cloned directory again and create a build_thymio directory there.

cd thymio
mkdir build_thymio
cd build_thymio

Now run cmake with the following options:

cmake -DARGOS_BUILD_FOR=thymio -DThymio_LIBS=<Path to the build_thymio directory inside the ARGoS repository> ..

Then build and install Thymio.

sudo make install

Running Experiments on the Raspberry Pi:

To run thymio_diffusion example or any other example follow the following procedure.

Make sure you are in the thymio directory then execute it using:

build_thymio/src/testing/thymio_diffusion/thymio_diffusion -c src/testing/thymio_diffusion/realtestexperiment.argos -i thymio

The first argument is the path to the experiment's configuration file (.argos). The second argument is the controller's name, which is specified as a tag in the configuration file.