![]() In order to compile and execute extern controllers, the following environment variables should be set:Įxport LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/snap/webots/current/usr/lib/x86_64-linux-gnuĮxport LD_PRELOAD=/snap/webots/current/usr/lib/x86_64-linux-gnu/libz.soīecause of the snap sand-boxing system, Webots has to use a special temporary folder to share information with robot controllers. Running Extern Robot Controller with the Snap Version of Webots Note: the environment variables can be set inside the controller program, before calling the wb_robot_init() function. If that simulation has more than one extern controller, you may also set the WEBOTS_ROBOT_NAME environment variable to specify the robot to which your controller should connect. This can be achieved by setting an environment variable named WEBOTS_PID with the PID (Process ID) of the running Webots instance to which you want to connect your controller. If you are running multiple simulations simultaneously on the same machine, then you need to indicate to your controller to which instance of Webots it should try to connect. Note: if the WEBOTS_ROBOT_NAME is not set, the controller will connect to the first extern robot found which is not already connected to an extern controller. You can repeat this for the other controllers, e.g., set a different value to the WEBOTS_ROBOT_NAME environment variable before starting a new controller, so that it will connect to a different robot. Once this environment variable is set, you can launch your controller and it will connect to the extern robot whose name matches the one provided in the environment variable. ![]() Then, in the environment from which you are going to launch the extern controller, you should define an environment variable named WEBOTS_ROBOT_NAME and set it to match the name field of the Robot node you want to control. In this case, for each robot that you want to control externally, you should set their controller field to. You are running a single Webots simulation simultaneously on the same machine and this simulation has several robots that you want to control from extern controllers. Single Simulation and Multiple Extern Robot Controllers In this case, you simply need to set the controller field of this robot to and to launch the controller program from a console or from your favorite IDE. You are running a single Webots simulation simultaneously on the same machine and this simulation has only one robot that you want to control from an extern controller. On Windows/MSYS2, type: export PATH=$/lib/controller/java option to the java command line launching the Java controller.ĭifferent use cases are detailed here from the most simple to the most complex: Single Simulation and Single Extern Robot Controller.If a C/C++ controller is launched from a Terminal running the bash shell, instead of setting the WEBOTS_HOME and PATH variables, it is sufficient to issue the following command to set the path to the Controller library before launching the controller: Specific setup depending on the controller language: Generic Webots environment variables needed for all the controller languages: Please refer to the documentation of your operating system to set environment variables. In order to be able to run an extern Webots controller, a number of environment variables should be set or extended. Note: If the robot.synchronization field is set to TRUE Webots will wait for the extern controller to be launched, otherwise the simulation will run whether the controller is started or not. It is even possible to read the standard input stream ( stdin) like with any standard program. ![]() This may seem inconvenient, but in several cases, it turns out to be very useful, because the user has full control over the controller process.įor example, it may run it within a debugging environment, like gdb, a command line tool like Python shell, or within some Integrated Development Environment (IDE), such as Visual C++, Eclipse or P圜harm.Īlso, the standard output and error streams ( stdout and stderr) remain under the user control and are not sent to the Webots console. Running an extern robot controller requires that the controller is launched manually. However, if this field is set to, no controller is launched and the robot will behave like if its controller field was an empty string, that is, the robot will not be controlled.īut as soon as a Webots controller is launched manually on the same computer, it will attempt to connect to this robot controller in order to control this robot. Normally, Webots launches automatically the robot controller specified in the controller field of each Robot node. This chapter describes extern robot controllers and how to use them. ![]()
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