EuRoC Forum

[Peter Lehner]

Version 1.0.8 of the simulator provides configuration scripts to ease the setup of a native simulator and a simclient virtual machine (VM).

Advantages
This setup has the following advantages:

• The simulator on a native ubuntu 12.04 (32 bit) is significantly faster than in the simsrv VM.
• A native simulator setup can possibly provide a workaround for the 'illegal instruction' by virtualbox when running the simsrv VM.
• You can test the correct encapsulation of your code in the simclient virtual machine before the final delivery.

Setup
The following steps will allow you to setup a native simulator and the simclient VM:

• Download and install the latest version of the simulator (euroc-c2s1-simulator_VERSION_i386.deb) and the scenes (euroc-c2s1-scenes_VERSION_i386.deb) on your native ubuntu 12.04 (32 bit) (for help see the technical annex 1.2.2)
• Download and import the virtual machines file (euroc_c2s1_2014*.ova) into virtualbox (for help see the technical annex 1.2.1).
• Start the simclient VM and insert your application startup into /opt/euroc_c2s1/startup (see technical annex 4.2)
• Shutdown the simclient VM

Running the simulation
The following steps will allow you to run a native simulation and the simclient VM:

• Start the simulation task selector on the native machine with the "-c" option. The script will configure your virtualbox with a new hostonlyif interface which connects the simclient VM with your native host:
  

  Code: Select all

  /opt/euroc_c2s1/start_euroc_task_selector -c

• Start your simclient VM

Reversing the effects
In order to reset the simclient VM connection to communicate with the simsrv VM you can run the following on the native machine:

Code: Select all

/opt/euroc_c2s1/bin/configure_simclient_vm internal

[AIS]

Hello,

The final evaluation will be executing both client and server in VMs, or native simulator and client in VM?

Kind regards

[fschmidt]

the final eval will use a native simulator with a fixed rt factor of 0.2.