View All Pages

Module2 - session - Local session 3

Download Slides from local Session 3 are here

One of the main aims with local session 3 is to ensure that you have installed all the tools that you need to complete your self-study assignments and get help from others in case your have trouble doing so. We have collected the instructions for how to install the tools on this page, but since this has resulted in duplication of instructions, always turn to the source (the topic page where the tools is used) when uncertain. 

 

Preparation for local session 3

All of the below assumes that you are installing the tool in Ubuntu 16.04 in the WASP VM or using the WASP external disk if not otherwise stated.

Install OpenModelica

You will need OpenModelica in 

To install it, execute the following in a terminal 

for deb in deb deb-src; do echo "$deb http://build.openmodelica.org/apt `lsb_release -cs` nightly"; done | sudo tee /etc/apt/sources.list.d/openmodelica.list
wget -q http://build.openmodelica.org/apt/openmodelica.asc -O- | sudo apt-key add -
sudo apt-get update
sudo apt-get install openmodelica

To test that it, download wasp_quiz1_circuit.mo Download wasp_quiz1_circuit.mo which is part of Module2 - self - 1 Quiz Modeling and Simulation. Start OpenModelica by typing the following on the command line

OMEdit

Use the Open-icon in the top left corner of the Modelica editor to open the model file that you downloaded above. You should now get a new tab inside the editor. If you click on the blue "text" icon in the top left corner of that you should see the text view of the model. When in this modelling view press the Simulate icon (green arrow) in the top meny bar. This will bring up a new window where code is compiled. When this is done, you will be switched to the Plotting view. In the right hand side you find all the variable that are used. You can now plot the current "i" simply by checking the box next to it.

 

Install Matlab and Simulink

You will need Matlab and Simulink in 

This is something that would already be on most of your computers. If not, the university has a page where you can download it from

Install Matlab on your host computer, NOT inside the virtual machine. You could install it on the external drive if you want to but it would be less convenient than on the computer's hard drive.

Testing Matlab

Download the file  Download height_PID.m

 from Module2 - mtrl - Control. Start Matlab and navigate to the place where you placed the file. In the file browser in Matlab locate the file and double click on it. This will open it in the editor. You can run the file by pressing green Run-icon in the top middle part of the Matlab window. You can also start the program from the Matlab command line by typing the name of the script. This is often easier when you want to pass arguments to the program. When you run this script, you should see a figure window popping up. You can also see in the lower left corner that Matlab tells you that it expects a key to be pressed to continue. 

Testing Simulink

Download the files wasp_quiz1_simulinkmodel.slx Download wasp_quiz1_simulinkmodel.slx and  Download run_wasp_quiz1_simulinkmodel.m

 that are part of Module2 - self - 1 Quiz Modeling and Simulation. Start Matlab if it is not started already. Start the script run_wasp_quiz1_simulinkmodel. It will take tens of second before anything happens and the result is a figure with a sinusoidal signal. If you look at the Matlab script, you will see that it runs the simulink model and gets the output from it, which is then used to generate the plot. You can also directly play the simulink model by double clicking on that file in the file browser in Matlab. This opens up the simulink model (takes a while). In this case the Matlab scripts defines some variables needed in the Simulink model so you MUST run the Matlab scripts first. To simulate, press the play button. You can double click on the scope icon in the model and you should get a window that shows a sinusoidal signal.

 

Install CVX

You need CVX in 

You should install CVX on the computer you have installed Matlab. You get CVX for all sorts of platforms here http://cvxr.com/cvx/download/. Links to an external site. This would mean downloading one of these files for most of you 

When you have downloaded CVX, follow the installation instructions here http://web.cvxr.com/cvx/doc/install.html Links to an external site. 

You run CVX from within Matlab. In short, the installation is like this:

  • Take the folder cvx that you downloaded above and place it somewhere. For example in the folder ~/Documents/MATLAB
  • Start Matlab
  • Navigate to the folder above
  • Run cvs_setup.m on the command line in Matlab

To test it,

  • download the file  Download rocketcvx.m
  • navigate to its location inside Matlab
  • run it by typing the name on the command line in Matlab
  • Four windows should pop up and you should see a rocket landing
  • If that works you should be good to go!

You get more details in the example under the heading "Controller design by Convex Optimization" on the page Module2 - mtrl - Control.

 

Install OMPL

You will use this in

sudo apt-get install libompl-dev ompl-demos
mkdir -p ~/module2/
cd ~/module2
git clone https://github.com/pjensfelt/wasp_as1_taskplan.git
cd ~/module2/wasp_as1_taskplan/ompl
cp /usr/share/ompl/demos/OptimalPlanning.cpp .

Test the installation by

g++ OptimalPlanning.cpp -lompl -lboost_program_options -oOptimalPlanning
./OptimalPlanning sol.txt
python visualize.py

On some systems it seem that you need to add a -f option to the second command, i.e. ./OptimalPlanning -f sol.txt.

Install SBPL

You will use this in

mkdir -p ~/module2
cd ~/module2
git clone https://github.com/pjensfelt/wasp_as1_taskplan.git
cd ~/module2/wasp_as1_taskplan/
git clone https://github.com/sbpl/sbpl.git
cd sbpl
mkdir build
cd build
cmake ..
make
sudo make install
echo "export LD_LIBRARY_PATH=\$LD_LIBRARY_PATH:/usr/local/lib" >> ~/.bashrc

To test it, restart the terminal and then execute

cd ~/module2/wasp_as1_taskplan/sbpl
mkdir example
cd example
cp ~/module2/wasp_as1_taskplan/sbpl_ex/* .
g++ xytheta.cpp -lsbpl -oxytheta
./xytheta ../env_examples/nav3d/cubicle-25mm-inflated-env.cfg ../matlab/mprim/unicycle_noturninplace.mprim
python visualize_ex2.py ../env_examples/nav3d/cubicle-25mm-inflated-env.cfg sol.txt

Installing Fast Downward

You will use this in

sudo apt-get install cmake g++ g++-multilib mercurial make python flex bison
cd ~/software
hg clone http://hg.fast-downward.org downward
cd downward
./build.py
cd ~/software/downward
git clone https://github.com/KCL-Planning/VAL.git
cd VAL
make clean
make validate parser
export PATH=$PATH:/home/wasp/software/downward/VAL

To test the installation do

cd ~/software/downward
./fast-downward.py --validate --alias seq-sat-lama-2011 misc/tests/benchmarks/gripper/prob01.pddl

You should get a file called sas_plan.1 as output which you can inspect with

more sas_plan.1

Install mekorama

You will use this in 

The task gives you some PDDL files that you should download. You can also install software to visualize the plans that you generate. You install the visualization software with

cd ~/software/
git clone https://github.com/pjensfelt/mekorama_plandisplay.git

You can test the visualization software by

sudo apt-get install python3-matplotlib
python3 ~/software/mekorama_plandisplay/visualize_mekorama_plan.py -f ~/software/mekorama_plandisplay/bad_plan.txt 

Installation of PRISM

You will need PRISM in

Download the latest version of PRISM from the official website.

tar xzf prism-4.4-linux64.tar.gz 
mv prism-4.4-linux64 ~/software/
cd ~/software/prism-4.4-linux64/
./install.sh

We can run prism by executing

~/software/prism-4.4-linux64/bin/xprism

one the command line. If you want it to be available without having to type all of that you can add the prims bin directory to your path with

echo "export PATH=~/software/prism-4.4-linux64/bin/:\$PATH" >> ~/.bashrc


Remember to close the terminal and open a new one for this to become active. You can now run prism by simply typing

xprism

on the command line.

 

Local session 3

Download Slides are here