argos3-webviz-examples

Examples for ARGoS3 Webviz plugin

To compile we assume you have

• Cmake
• Argos3
• Lua (for Argos3)
• Argos3-webviz

To build, run the following commands

$ mkdir build
$ cd build
$ cmake ..
$ make
$ cd ..

Examples

Every example has two parts, a Serverside with argos and webviz, and a client side which can be anything from python client to javascript web application.

Few of the examples here are taken from argos3-examples with added Webviz as the visualizer.

PLEASE NOTE: Make sure that port 3000 is not being used by any other process or existing argos3 webviz experiment, or you need to change experiment file and client accordingly.

1. DIFFUSION

In this example experiment, a foot-bot performs obstacle avoidance while navigating in an small square environment.

To Run, start argos in one terminal

$ argos3 -c diffusion/diffusion_1.argos

and run a static webserver to host html files in another terminal

$ python3 -m http.server --directory ./common 8000

Now you can open http://localhost:8000/ in any modern browser.

Here we use the example webclient provided by "argos3-webviz".

2. Basic html form

In this example experiment, the experiment is shown to be controlled using a html form, and inbuilt WebSockets functionality of javascript.

The experiment is empty (no robots) we only see and control the State of the experiment.

To Run, start argos in one terminal

$ argos3 -c basic_html_form/empty_experiment.argos

and run a static webserver to host html files in another terminal

$ python3 -m http.server --directory ./basic_html_form/client 8000

Now you can open http://localhost:8000/ in any modern browser.

3. Basic 2D Viewer

In this example experiment, fabric.js is used to show the 2D arena of robots.

The swarm experiment is diffusion as of above.

To Run, start argos in one terminal

$ argos3 -c basic_2D_viewer/diffusion_10_2D.argos

and run a static webserver to host html files in another terminal

$ python3 -m http.server --directory ./basic_2D_viewer/client 8000

Now you can open http://localhost:8000/ in any modern browser.

4. Python client

Install websocket_client using

$ pip install websocket_client

To Run, start argos in one terminal

$ argos3 -c ./python_client/empty_experiment.argos

and run python client in another terminal

$ python3 ./python_client/client.py

5. User functions

This example is taken from argos3-examples,

The arena is divided in two areas: a grey area that serves as nest, where the robots are initially deployed; and a white area where food items are scattered. The task of the foot-bots is to exit the nest, search for food items, grab them and bring them back to the nest. To simplify control, food items are just drawn as black spots on the ground, and when a robot passes over a food item it automatically grabs it. When a robot is transporting a food item, a cylinder is drawn on top of it. Each robot can transport only one item per time. Once a robot has grabbed an item, it must bring it back to the nest. The direction to/away from the nest is detectable through light sensors, that read the position of a set of lights displaced over the nest.

Here User function is used to get variables from loop function and pass it in JSON to clients. Chart.js is used for drawing bar chart. fabric.js is used for 2D graph.

To Run, start argos in one terminal

$ argos3 -c user_functions/foraging.argos

and run a static webserver to host html files in another terminal

$ python3 -m http.server --directory ./user_functions/client 8000

Now you can open http://localhost:8000/ in any modern browser.