This Maze Simulator Service for Microsoft Robotics Studio is 99% based on the MSRS Maze Simulator by Trevor Taylor (find the original version following this link to Trevor's page). I just modified it to use my simulated SONAR service instead of the simulated Laser Range Finder (LRF). I called this branch of MazeSimulator MazeSimulatorRA and also changed the contract identifier, so you can have both versions in the same MSRS environment.

Background

Please check original documentation available at the link provided above for a complete overview of this service. Basically this service allows you to simulate a maze composed of walls and blocks in the MSRS Visual Environment. I am using it to simulate a Pioneer 3 DX robot in a building-like environment. The service builds the 3D maze from a 2D color bitmap that especifies the position and color of the walls. I am using a bitmap image that resembles to my lab environment so I can test exploration and SLAM algorithms in the MSRS simulator.

As I am currently using SONAR sensors instead of a LRF I commented out the laser part of the original service and included my simulated sonar service.

Service Download

- MazeSimulatorRa Source Code Download

Installation Instructions (for source code zip archive)

Please see readme.txt file included in the zip file for detailed instructions. The zip file contains the source code, resources, and visual studio solution. Download the ZIP file and unzip it into your MSRS root directory. This should create a directory called: <MSRS>\Apps\UC3M\MazeSimulatorRA

Service Details

Service Contract Identifier:
http://www.conscious-robots.com/2007/8/mazesimulatorra.html

Implements generic contract:

Service partners:
Microsoft.Robotics.Simulation.Engine.Proxy

Allow Susbscriptions:
No.

Service State:
Cranium.Simulation.Worlds.MazeSimulatorState

Service Implementation Description

See http://sky.fit.qut.edu.au/~taylort2/MSRS/MazeSimulator/MazeSimulator.htm for more information about the implementation.

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Comments (2)

1 Requires SimulatedDifferentialDriveTT
Written by This e-mail address is being protected from spam bots, you need JavaScript enabled to view it , on 21-09-2007 12:30
(Thanks Ben for the heads up!) The maze simulator as it was uploaded did not compile because it requires Trevor's SimulatedDifferentialDriveTT (files SimulatedDifferentialDriveTT.2007.M06.dll and SimulatedDifferentialDriveTT.2007.M06.Proxy.dll). I've included these files in my release as a convenience.

You just need to copy them from MSRS/Apps/UC3M/MazeSimulatorRa/SimulatedDifferentialDriveTT to your MSRS/bin directory before building the project. Check the link provided above for the source code of SimulatedDifferentialDriveTT service.

2 Brought code branches together
Written by This e-mail address is being protected from spam bots, you need JavaScript enabled to view it , on 14-08-2007 09:38
I followed Trevor’s suggestion to add Sonar as an option in MazeSimulator to bring the code branches together. This does make sense!

Latest changes are:

MazeSimulatorRaTypes.cs:

// Raul - Aug 2007 - Allow selection between LRF or SONAR.
// (or both? open to include options for more sensors).
[DataMember]
public bool UseLRF;

[DataMember]
public bool UseSonar;

MazeSimulatorRa.cs:

// Raul - Aug 2007 - Indicate what sensors are being used
_state.UseLRF = false;
_state.UseSonar = true;

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Last Updated ( Friday, 30 November 2007 )

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