SimSpark-SPL

SimSpark simulator for Standard Platform Legaue

Improvements

• NAO V4 Model

  • Realistic motor (stiffness, current, temperature)
  • Two cameras
  • Accurate mass model
  • Kinematics parameters
  • Image camera (optional)

• For Standard Platform League

  • Field, goal, ball
  • Game rules

Installation

• Linux

  • AppImage:

    Download the appimage from https://github.com/BerlinUnited/SimSpark-SPL/releases and make it executable

  • Compile manually

    • download/install dependencies (see https://gitlab.com/robocup-sim/SimSpark/wikis/Installation-on-Linux)

    git clone https://github.com/BerlinUnited/SimSpark-SPL.git simspark
    cd simspark/spark/
    mkdir build
    cd build
    cmake ..
    make
    make install
    cd ../../rcssserver3d/
    mkdir build
    cd build
    cmake ..
    make
    make install

    if you want to install simspark somewhere else, you can specify an environment variable and modify the cmake calls:

    SIMSPARK_INSTALL="/path/to/install"
    # ...
    cmake -DCMAKE_INSTALL_PREFIX:STRING="$SIMSPARK_INSTALL" ..
    # ...
    cmake -DCARBON_DATA_DIR:STRING="$SIMSPARK_INSTALL/share" -DCARBON_INCLUDE_DIR:STRING="$SIMSPARK_INSTALL/include/simspark" -DKEROSIN_INCLUDE_DIR:STRING="$SIMSPARK_INSTALL/include/simspark" -DOXYGEN_INCLUDE_DIR:STRING="$SIMSPARK_INSTALL/include/simspark" -DRCSSNET3D_INCLUDE_DIR:STRING="$SIMSPARK_INSTALL/include/simspark" -DSALT_INCLUDE_DIR:STRING="$SIMSPARK_INSTALL/include/simspark" -DSPARK_INCLUDE_DIR:STRING="$SIMSPARK_INSTALL/include/simspark" -DCMAKE_INSTALL_PREFIX:STRING="$SIMSPARK_INSTALL" ..
    # ...

• Windows

  • Download the newest binary release from https://github.com/BerlinUnited/SimSpark-SPL/releases
  • unpack the ZIP archive to your favorite location
  • run <simspark location>/SimSparkSPL.bat
  • or run <simspark location>/SimSparkSPL_background.bat if you want only the server without monitor and logging