Thymio

Is an open source simulator based on ARGoS framework for Thymio robotic platform. It uses an Interface, which is developed using core libraries from ASEBA and DaSHEL.

Installing Thymio on a desktop computer:

This version of Thymio on a desktop computer is mainly used for simulation. First clone this repository:

git clone https://github.com/daneshtarapore/Thymio

Then change directory to the repository you have cloned and create "build" directory using:

mkdir build

Then move to this directory:

cd build

Now execute:

cmake -DCMAKE_BUILD_TYPE=Release ../src

Now compile the code using:

make

Now install from binaries using:

sudo make install

You have now installed Thymio's simulator

To execute the examples: Go to the parent directory of "build".

execute:

argos3 -c src/testing/Thymio_diffusion/testexperiment.argos

Or any other example present inside the testing directory.

For A Raspberry Pi :

First you should prepare the environment. You need internet connection and to configure WLAN use information from the official documentation

First install all dependencies for ARGoS, ASEBA and DaSHEL:

sudo apt-get install
                        cmake\
                        libfreeimage-dev\
                        libfreeimageplus-dev \
                        qt5-default\
                        freeglut3-dev\
                        libxi-dev\
                        libxmu-dev\
                        liblua5.2-dev\
                        lua5.2\
                        doxygen\
                        graphviz\
                        graphviz-dev\
                        asciidoc\
                        qttools5-dev-tools \
                        qtbase5-dev \
                        qt5-qmake \
                        libqt5opengl5-dev \
                        libqt5svg5-dev \
                        libqt5x11extras5-dev \
                        libqwt-qt5-dev \
                        libudev-dev \
                        libxml2-dev \
                        libsdl2-dev \
                        libavahi-compat-libdnssd-dev \
                        g++ \
                        git \
                        make \
                        libenki-dev \
                        libdashel-dev \
                        aseba 

Remember when building ASEBA, disable Enki from the cmake file by commenting this line out:

include(CMakeModules/enki.cmake)

To build ARGoS on Raspberry Pi specifically for Thymio:

First clone ARGoS from its repository:

git clone https://github.com/ilpincy/argos3

Change directory to the cloned repository and create a build_thymio directory:

mkdir build_thymio\
cd build_thymio

Execute cmake using following options:

cmake –DARGOS_BUILD_FOR=thymio ../src 

Then build and install ARGoS. This will only compile and build necessary libraries for the execution of the controller codes.

For Thymio: First clone this repository:

git clone https://github.com/daneshtarapore/Thymio

Change directory to the cloned directory and create a build_thymio directory there. Then run cmake with the following options:

Cmake –DARGOS_BUILD_FOR=Thymio –Dthymio_LIBS=<Path to the build_thymio directory inside the ARGoS repository> ../src

Then build and install Thymio.

IMPORTANT: character encoding must be changed to US-UTF8 using raspi-config.

Running Experiments on the Raspberry Pi:

To run Thymio_diffusion example or any other example follow the following procedure.

make sure you are in the build/testing/Thymio_diffusion directory and the executable file is available then execute it using:

sudo ./Thymio_diffusion -c "/home/pi/Thymio/src/testing/Thymio_diffusion/testexperiment.argos" -i thymio

The first argument is the path to the experiment's configuration file (.argos). The second argument is the controller's name, which is specified as a tag in the configuration file.