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brainsimulator_agent

README.md

Brain Simulator controls TurtleBot in Gazebo

GoodAI's Brain Simulator V0.4 controls TurtleBot on Gazebo Environment.

IMAGE ALT TEXT HERE

Tcp connection nodes in Brain Simulator communicate with python server and this server controls TurtleBot via PyGazebo.

This prototype modules are red boxes(Brain Simulator's nodes(Sensor and Motor) and python sever) system

Quickstart

Run

Prepare two machines and connect same network.

  • Brain Simulator Machine
  • 64-bit Windows 7, 8, 8.1 or 10
  • NVIDIA CUDA-enabled graphics card
  • Gazebo Machine
  • recommended Ubuntu or Mac (we used Ubuntu14.04)

Gazebo Machine(Ubuntu or Mac)

Install Gazebo (Ubuntu, Mac).

Install pygazebo:

# Do not use version 3.0.0-2014.1 
git clone https://github.com/jpieper/pygazebo.git
cd pygazebo
git checkout 3eaac84
python setup.py install
cd ../

Install BriCA V1:

https://github.com/wbap/BriCA1.git
git clone https://github.com/wbap/BriCA1.git
cd BriCA1
git checkout 0261df0
python setup.py install
cd ../

Launch maze world:

git clone https://github.com/masayoshi-nakamura/CognitiveArchitectureLecture.git
gazebo CognitiveArchitectureLecture/worlds/maze_turtlbot.xml

Open new ternminal, start brainsimulator_agent.py

cd CognitiveArchitectureLecture/examples/brica_brainsimulator_agent/
python brainsimulator_agent.py

Brain Simulator Machine(Windows)

Install Brain Simulator.

Load CognitiveArchitectureLecture/examples/brainsimulator_agent/brica_sample_agent.brain.

Double click "Sensor" node and change TCP_IP variable to your Gazebo Machine's IP and double click "Motor" node and change TCP_IP variable to your Gazebo Machine's IP.

Then click start button(or F5 key), you can control TurtleBot by changing "Motor_input" node slider bar.