SSSIM

This is SSSim 0.5
added improved logging and Kalman filter calculation for location estimates.

The first public release of the Sea Swarm Simulator, originally developed by Eemeli Aro at Aalto University.

The simulator is released subject to the terms of the Mozilla Public License, v. 2.0. A copy of the MPL should be included as a LICENSE file, or you can obtain one at http://mozilla.org/MPL/2.0/.

For more information and the latest version, please visit:

http://autsys.tkk.fi/sssim

WHY?

SSSim has been released primarily to help others developing multi-robot simulators for research purposes; especially for developing underwater systems. It is a tool I developed to enable my own research on an autonomous group of robotic floats, and that shows in its implementation details. I hope it may prove useful to others, as it is extensible to handle different types of robots and different types of 2D and 3D environments.

INSTALLATION

Development work has been done using Ubuntu Linux, so exact library & other requirements on other platforms is unknown.

Under Ubuntu (currently 18.04 in use), the following command should install a minimal set of required libraries:

sudo apt-get install build-essential 
sudo apt-get install libnetcdf-dev 
sudo apt-get install libnetcdf-cxx-legacy-dev
sudo apt-get install freeglut3-dev 
sudo apt-get install libgd-dev 
sudo apt-get install libconfig++-dev

Additionally, the Simple Vector Library is required, and as it is not available via APT it is included with the simulator. To install:

cd lib-src/svl-1.5/
make
sudo make install

USAGE

Once the necessary libraries are installed, running make should generate five executable files in the bin/ directory: @ env - the environment server float - sample underwater robotic float base - sample base station cli - command line controller for the environment gui - a combined visualizer and controller for the system

To run the simulator, a number of the above programs need to be run at the same time. The shell script "run" is provided, which uses gnome-terminal to start the environment, a base station, six floats, and the GUI. The sample floats will operate on a two-hour cycle, meeting at the sound channel depth to communicate before picking a random depth to float at. The sample base station will act as a GPS position data relay; the GUI will display these last known locations for the active float.