Wishlist

Started Labbook 2016.

June 11, 2015

Should read article in Journal of Field Robotics, seems to be a nice combination of the virtual (realistic simulation) and agent competition (MaxQ decsion making).

Read the journal article Exploiting spatial locality and heterogeneity of agents for search and rescue teamwork, which indicated that dynamic teams showed good performance in the Agent competition. Next step would be ad-hoc teams.

Continue to install the SIGVerse server following the steps of the tutorial. Xj3D is described at the web3d website.
Checked out the v1.0 source code with svn, but this is use. According to NPS developers, this is a an orphaned version.
make of SIGVerse v2.2.2 fails on missing jni.h. Copied this from jvm/java-1.6.0 to /usr/local/include, as specified in the 2nd step of the tutorial.
Added SHELL = '/bin/bash' to the Makefile of server/commonlib, to allow the usage of popd and pushd (instead of cd). make install creates a sigverse-2.2.2 in my home-directory.
Started sigserver.sh from there gives the correct: [SYS] /////////////////////////////////////////////////////////// [SYS] ////////////// World number 0 (port 9000) /////////////// [SYS] /////////////////////////////////////////////////////////// [SYS] data directory : [SYS] [1] /home/arnoud/sigverse-2.2.2/share/sigverse/data/xml/ [SYS] [2] /home/arnoud/sigverse-2.2.2/share/sigverse/data/shape/ [SYS] world file : MyWorld.xml [SYS] building entity (entName=(Robot-nii), className=(Robot), X3DFileName=(/home/arnoud/sigverse-2.2.2/share/sigverse/data/shape/robot_nii_v2.x3d))
Found the mentioned jar at vrspace.org.

Looking for a closed solution of the Transformation and Rotation form of the Weighted Range Sensor Matching algorithm.
Found several in Andreas Nüchter's 3D Robotic mapping.

Try to install the SIGVerse server following the steps of the tutorial, but Xj3D is no longer available for download.

Implemented a simple C++ version of USARGazeboStream. Could make a connection, but socket is closed before NFO message could be written.

Tested the RoboCupRescuePackage as created by Masaru Shimizu. The version of March 13 responds with spwawning a Pioneer robot for each message, so it fails when USARCommander asks for the SpawnPositions:
Added functionality to handle a GETSTARTPOSES request. Tested with telnet on a Linux machine it works, but USARCommander it fails. Should check the extra carrier return given by robot controllers like USARCommander:

Commited this version.
Should read some Gazebo documentation:
The USARGazebo is a WorldPlugin, where I expected a SystemPlugin. The SystemPlugin is useful for modifications in the GUI.
Tried to install the webserver plugin, but failed on "gzweb/node_modules/.bin/node-gyp: No such file or directory". The suggested npm config set registry http://registry.npmjs.org/ didn't help.
Gazebo uses Boost ASIO to manage the communication layer, and Google Protobufs are used as the message passing and serialization library.