Ver. 1.0.3

System Architecture

	OS	Platform
RCRS	Linux	C++, Java
USARSim	Windows	Unreal Tournament 2004
RC	Windows	Java

RCRSandUSARSim.tar.gz contains following files,

• rescue-patch_for0.49.10.5
  +- rescue_049-10_kernel.patch
  +- rescue_049-10_librescue.patch
  +- programs -- librescue -+- robotclient (for connecting to Robot Center)
  |                                    +- thread (for Thread)
  +- programs_agent (for agent programs)
  +- boot -+- all_42.sh
               +- sampleagent_42_for_usarsim.sh
               +- usarsim42 -- usarsim_init.txt (A configuration file to connect to Robot Center)
• RobotCenter
  -- USARSimCenter -+- src (source files (.java) )
                                +- bin (class files (.class) )
                                +- run -+- startcenter.bat (A execute file to start Robot Center)
                                            +- usr.cfg (A configuration file to connect to USARSim)

Installation

1. RoboCup Rescue Simulation (RCRS)
2. USARSim
3. Robot Center

Install on Linux.
Refer Rescue Agents.
And, install patch files for this system.
1. Extract RCRSandUSARSim.tar.gz.
2. Copy the contents of the rescue-patch_for0.49.10.5 directory into your installed RCRS directory.
3. Patch to original RCRS programs (for ver. 0.49.10.5) .

$ cd <RCRS directory> $ patch -p2 < rescue_049-10_kernel.patch $ patch -p2 < rescue_049-10_librescue.patch

4. Compile programs.

$ cd programs/ programs$ make

Install on Windows.
Refer USARSim-manual_3.1.3.pdf p.22 (p.28) .
And, install test maps.
ex.) AAA_MapBaseFiles_V3.1.exe, DM-YellowArena_V3.1.exe

Install on Windows.
Extract RCRSandUSARSim.tar.gz, and copy the RobotCenter directory into any directory on Windows.

Setup the system

1. RoboCup Rescue Simulation (RCRS)
2. Robot Center

Set a configuration file (boot/usarsim42/usarsim_init.txt) .

Parameters
1st.	IP address of Robot Center
2nd.	The port number of Robot Center
3rd.	The time scale of USARSim

Set a configuration file (RobotCenter/USARSimCenter/run/usar.cfg) .

Parameters
centerIP	IP address of Robot Center
centerPort	The port number of Robot Center
Robots
	ID: The id of robots
	Name: The name of robots
	Type: The type of robots
Buildings
	ID: The id of buildings
	SimIP: IP address of Unreal Server
	SimPort: The port number of Unreal Server
	VideoIP: IP address of Image Server *Image Server offers image data of Unreal Client.
	VideoPort: The port number of Image Server
	Position: The initial position of robots
	Rotation: The initial rotation of robots
Debug_Level	Debug Level
Search_Time	The time for searching victims by robots on USARSim
sClassPath	Path to class files

Run the system

1. USARSim
2. Robot Center
3. RoboCup Rescue Simulation (RCRS)
4. Video Capture from USARSim (options) added ver. 1.0.3

Run USARSim.
1. Run Unreal Server.
Execute ut2004\System\usar_s.bat
*Modify the file if necessary to select the name of maps.
2. Run Unreal Client.
Execute ut2004\System\usar_c.bat
*Refer USARSim-manual_3.1.3.pdf pp.28-29 (pp.34-35) .

Run Robot Center.
Execute RobotCenter\USARSimCenter\run\startcenter.bat

Run RoboCup Rescue Simulation.
1. Run the kernel, simulators, and the viewer.

$ cd <RCRS directory>/boot/ boot$ ./all_42.sh

2. Run agent programs.

boot$ ./sampleagent_42_for_usarsim.sh

Run Image Server
1. Run and startImage Server instead of Unreal Client (on Windows).
*Refer USARSim-manual_3.1.3.pdf pp.13-14 (pp.19-20) .

Run Video Capture
1. Run VideoCaptre.jar (on Linux/Windows).
double-click or put commands as follows:

$ java -jar VideoCapture.jar

2. Input IP address of Image Server in the text field.
3. Put "START" button.

ver. 1.0.0 September 24, 2008. by Shigeru Yotsukura
ver. 1.0.3 June 3, 2009. by Shigeru Yotsukura