Prescan code generation - AD-EYE/AD-EYE_Core GitHub Wiki

Preparation

1. Install Prescan: (might be already installed)

First, you can verify if you have already installed Prescan on your computer.

ls /usr/local

You can choose in these folders and sub-folders the version you are looking for. But we recommend using the version 2020.4.

https://kth.app.box.com/folder/53896402743

  • Ubuntu: Download the file Simcenter-Prescan-2020.X.0-lin64.sh

To execute it, go in the right path then:

chmod +x Simcenter-Prescan-2020.4.0-lin64.sh 
sudo ./Simcenter-Prescan-2020.4.0-lin64.sh

You can verify once more with ls /usr/local

  • Windows:

[not yet determined]

2. Edit Prescanrun:

  • Verify that the environment variable which defines the Prescan License server is included in the service definition, otherwise include it.
sudo nano /etc/systemd/system/deploymentservice.service

On Prescan 2020.1: [email protected]

On Prescan 2020.3: [email protected]

On Prescan 2020.4: [email protected]

  • Additionally, make sure that the username in the service definition is not "prescan", it should be the default username in the computer.

  • Don't forget to update the version in the ExecStart line.

The service definition should look similar to the following:

[Unit]
Description="Prescan Deployment Service"
Wants=network-online.target
After=network.target network-online.target

[Service]
[email protected]
User=adeye
ExecStart=/usr/local/Prescan_2020.3.0/bin/prescanrun DeploymentService

[Install]
WantedBy=multi-user.target
  • Reload changes and test that the service works
sudo systemctl daemon-reload
sudo systemctl restart deploymentservice.service
sudo systemctl status deploymentservice.service      # just to see if the service is working properly
  • Enable the service on startup
sudo systemctl enable deploymentservice.service

3. Modify build_and_run_experiment.sh:

Download this folder: https://gits-15.sys.kth.se/AD-EYE/prescan_code_generation

Depending on the simulation conventions, it might be necessary to change two constants in the build_and_run_experiment.sh script. For example:

  • For a default PreScan experiment:
PRESCAN_EXPERIMENT_FOLDER="Experiment"
EXPERIMENT_NAME="Experiment"
  • For an AD-EYE experiment like W01_Base_Map_TCP:
PRESCAN_EXPERIMENT_FOLDER="W01_Base_Map_TCP"
EXPERIMENT_NAME="W01_Base_Map_TCP"

Then correct the PRESCANRUN_PATH line below with your Prescan's version (2020.1 or 2020.3 or 2020.4).

Below the line original_path=(pwd), add the line: (in function of your version, see above)

export [email protected]

Now you can save this file and close it.

Execution

In 4 separate terminals:

  1. Run roscore
roscore
  1. Run my server (which is a package):
rosrun packageImageRviz myServer
  1. Run the PreScan generated code (which includes the rosbridge TCP client):

Go in the path where you downloaded this.

Then in /prescan_code_generation-master/scripts

./build_and_run_experiment.sh ~/Downloads/W01_Base_Map_TCP_cs.zip
  1. Run Rviz:
rviz

Add an image, and select the topic /topic_image

The simulation will start running.