🪐Chris T.

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Local Simulation

Jul 20, 20244 min read

Run Astrobee Simulator on your local machine. Set up a simple simulation environment locally without randomness modules (Phases/targets randomness generator, air flow simulator and navigation errors) or a judge module.

1. Build Simulator with Docker

#!/bin/bash
 
##############################
# Static values
#
 
rootdir=$(dirname "$(readlink -f "$0")")
cd $rootdir
bootstrap_dir=${rootdir}/bootstrap
crew_operation_dir=${rootdir}/crew_operation_module
 
OBJECT_NAME_ARRAY=("lostitem1" "lostitem2" "lostitem3" "lostitem4" "lostitem_target")
 
XSOCK=/tmp/.X11-unix
XAUTH=/tmp/.docker.xauth
touch $XAUTH
xauth nlist $DISPLAY | sed -e 's/^..../ffff/' | xauth -f $XAUTH nmerge -
 
##############################
# Run Simulator
#
 
ROS_IP=$(getent hosts llp | awk '{ print $1 }')
 
docker run -it --rm --name astrobee \
        --volume=$XSOCK:$XSOCK:rw \
        --volume=$XAUTH:$XAUTH:rw \
        --volume=${bootstrap_dir}:/tmp/bootstrap \
        --volume=${crew_operation_dir}:/tmp/crew_operation_module \
        --env="XAUTHORITY=${XAUTH}" \
        --env="DISPLAY" \
        --env="ROS_MASTER_URI=http://${ROS_IP}:11311" \
        --env="ROS_HOSTNAME=${ROS_IP}" \
        --user="astrobee" \
        --privileged \
        --network=host \
        krpc/astrobee_sim-base:5.0.0 \
        /astrobee_init.sh bash /tmp/bootstrap/run.sh
  • Pull Docker image
docker pull mizanul/krpc_astrobee_sim-base:5.0.0
  • Copy hostname
hostname -I

  • Edit run.sh

    • Replace instances of ROS_IP with hostname
    • Change name of Docker image to mizanul/krpc_astrobee_sim-base:5.0.0 \

  • Edit hosts file to set up the network

Sudo nano /etc/hosts
#127.0.0.1 hlp
#127.0.0.1 mlp
#127.0.0.1 llp
10.42.0.36 hlp
10.42.0.35 mlp
10.42.0.34 llp
  • run simulation
bash run.sh
  • Setting the environment variables
Export ANDROID_PATH=${HOME}/astrobee_android
export EMULATOR=$HOME/Android/Sdk/tools/emulator
export AVD=”AstrobeeAndroidSim”

2. Set up Android Emulator for Astrobee Simulator

Set up Android Emulator to run the SDK (only needed for local simlution). See https://github.com/nasa/astrobee_android/blob/master/emulator.md#2-add-an-emulator for more details.

Create an AVD (Android Virtual Device) as follows:

  • Launch Android Studio.
  • Select [Tools] → [AVD Manager].
  • In the Android Virtual Device Manager window, click [Create Virtual Device…].
  • Select device Nexus 5 (Resolution 1080x1920) and click [Next].

alt text

  • Select the [x86 Images] tab:
    • Choose Nougat/API Level 25/ABI x86_64/Android 7.1.1 (NO Google APIs), then click [Next].
    • Note: Download the system image now if needed.

alt text

  • Set the AVD name to “AstrobeeAndroidSim”.
  • Click [Finish].
  • Launch AVD
    • In the Android Virtual Device Manager window, you will see “AstrobeeAndroidSim” in the list.
    • Click the Play button in the Action column.

alt text

Optional: Start emulator from command line

https://developer.android.com/studio/run/emulator-commandline

  • Get list of AVD names from Android home directory
    • You can override the default home directory by setting the ANDROID_SDK_HOME environment variable that specifies the root of the user-specific directory where all configuration and AVD content is stored.
    • You can set the environment variable in the terminal window before launching a virtual device or through your user settings in the operating system. For example, in your .bashrc file on Linux.
emulator -list-avds
  • Launch emulator
emulator -avd avd_name [ {-option [value]} … ]
# 2nd way:
emulator @avd_name [ {-option [value]} … ]
# Example (Run emulator window within Android studio with options: -qt-hide-window -grpc-use-token -idle-grpc-timeout):
/Users/janedoe/Library/Android/sdk/emulator/emulator -avd Pixel8_API_34 -netdelay none -netspeed full -qt-hide-window -grpc-use-token -idle-grpc-timeout

3. Build the Guest Science Manager APK

To run your program, you must install the Guest Science Manager APK. (see details at https://github.com/nasa/astrobee_android/blob/master/guest_science_readme.md )

  • Clone the Astrobee Android package from GitHub.
export ANDROID_PATH=${HOME}/astrobee_android
git clone https://github.com/nasa/astrobee_android.git
git checkout a8560ab0270ac281d8eadeb48645f4224582985e
  • Execute the following commands to build the Guest Science Manager APK.
cd $ANDROID_PATH/core_apks/guest_science_manager
ANDROID_HOME=$HOME/Android/Sdk ./gradlew assembleDebug

4. Set Up the network

Setup the network between the Kibo-RPC Simulator and the Android Emulator. See https://github.com/nasa/astrobee_android/blob/master/emulator.md for details.

Install ADB

ADB (Android Debug Bridge) allows the user to access physical and emulated Android devices, push/pull files, and manage applications. Android Studio already includes this program. However, it is important you install it as a separate package. In a terminal, please do the following:

sudo apt-get install adb

Set HOST Network

Edit HOSTS file

  • Open hosts file
sudo nano /etc/hosts
  • Add 3 lines (from line 4 to line 6)
127.0.0.1	localhost
127.0.1.1	ubuntu
 
10.42.0.36 hlp
10.42.0.35 mlp
10.42.0.34 llp
 
[...]

Set Environment Variables

  • in WSL2
export WIN_USERPROFILE=/mnt/c/Users/{username}/
export ANDROID_PATH=~/projects/kiborpc/krpc5_simulator/astrobee_android
export EMULATOR=$WIN_USERPROFILE/AppData/Local/Android/Sdk/emulator/emulator.exe
export AVD="AstrobeeAndroidSim"
  • To make these commands available in all new terminal sessions, you can add them to bashrc and source it
source ~/.bashrc
  • If you need to switch emulator, you can get the names here
 $EMULATOR -list-avds
AstrobeeAndroidSim
Pixel_3a_API_34_extension_level_7_x86_64
Pixel_4_XL_Edited_1_API_31
Pixel_6_API_33

Setting network bridge and running the emulator

In order to correctly set up the communication between the Android emulator and the rest of the simulator, we need to run a script that takes care of that.

  • Launch the emulator script which will set the HOST network. Provide your super user password if requested.
cd $ANDROID_PATH/scripts
./launch_emulator.sh
  • Note: To run emulator directly:
    • In Windows Terminal
cd %USERPROFILE%\AppData\Local\Android\Sdk\emulator
emulator.exe -avd AstrobeeAndroidSim
  • In WSL
 export EMULATOR=$WIN_USERPROFILE/AppData/Local/Android/Sdk/emulator/emulator.exe
$EMULATOR -avd $AVD
  • Show running emulators
    • Windows:
tasklist | findstr qemu
# qemu-system-i386.exe         23896 Console                    1    679,128 K
  • debug.
    • In WSL:
ps aux | grep qemu
adb devices # Other way

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