grSim – RoboCup Small Size Robot Soccer Simulator

grSim - IntroductionIntroduction

“grSim” is a modern, feature-rich multi-robot 3D simulator mainly developed for simulation of RoboCup Small Size Soccer League. grSim is a free (as in freedom) software, published under the terms of GNU General Public License.

Some of grSim’s main features  are as follows:

  • SSL-Vision (Small Size League’s Vision Software) compatible localization packets.
  • Flexible, network based command receive system based on Google Protocol Buffers.
  • Accurate and efficient implementation of small size robots dynamic model using Open Dynamics Engine. (four wheel omni directional robots)
  • Support for multiple robot profiles (hardware configurations).
  • OpenGL based 3D visualization with configurable camera modes.
  • Feature-rich user interface. Many tasks can be done using mouse and keyboard shortcuts.
  • Modification of configurations in runtime.
  • Many other features …

If you use grSim in your research projects, please cite the work as follows:

Valiallah Monajjemi, Ali Koochakzadeh, Saeed Shiry Ghidary, “grSim – RoboCup Small Size Robot Soccer Simulator”, to appear in : RoboCup 2011: Robot Soccer World Cup XV, 2011

Documentation

The README file in grSim’s package contains very brief documentation on minimum requirements, installation and usage. We will extend the documentation as the development goes on. To run grSim, we recommend you to use latest Ubuntu Linux operating system. Current version of grSim works well on Ubuntu 10.04, 10.10 and 11.04.

Download

The current version of grSim is 1.0 (r1354), you can grab a copy from this link. [Release date: July 2nd 2011]

Bug Report / Feature Request/ Contribution

If you want to report a bug, request a feature or submit a patch, please feel free to contact us using the email address below:

small {dash} size {at} parsianrobotic {dot} ir

Developers

Credits

To develop grSim, we made use of these software packages/tools: