- grSim is a simulation software. It will send information(robot position and orientation) via UDP like a real vision machine which will be used in real robot situation.
- Athena is a visualization software, receiving data from grSim or vision machine, sending information(robot position & orientation & velocity & angular velocity) via UDP.
| Item | Multicast Address | Port |
|---|---|---|
| Athena Output | Localhost | 23333,23334 |
| Athena Input | 224.5.23.2 | real:10005,sim:10076(modifiable) |
| grSim Output | 224.5.23.2 | 10076(modifiable) |
| grSim Input | Localhost | 20011 |
grSim:
Athena:(Press 'R' to reload)
1.Open Athena and grSim 2.Connect Athena to grSim 3.run script: python/test_run.py