Once compiled the simulator can be started by typing
> ./bin/RobotSimulator
This is the default. For command line options:
> ./bin/RobotSimulator -h
The simulator window is composed of a 3D rendering window and a console tab. The console tab contains one console that provides the user with basic control on the simulation, and other consoles controlling each simulated module.
The mouse is used for 3D-navigation in the environment. Using the left-mouse button allows turning around the look-at-point, and the right button to zoom-in/out. To move the look-at-point, hold the Ctrl key while pressing with either mouse button.
Each console provides access to commands that can be sent to either the simulator or to robot control modules. The Tab key provides with an auto-completion feature. Each console has a name-space, e.g. Simulator::, that allow to send commands from the Simulator console to any other robot console without switching, e.g., Robot::Run. To switch between console, the Alt-<number> shortcut can be used.
To load an example configuration hit F1. Select a configuration file or an example in the Examples folder and click open.
Control of the simulation can be done either using shortcuts when the focus is on the rendering window, of by typing commands on the Simulation console.
A robot module normally provides a set of commands that can be sent to the controlled robot. These are module specific. In order to find out which commands are available, hitting the tab key in the robot's console.
Help on simulation and visualization shortcuts can be obtained by hitting Ctrl-h on the rendering window