How to run VSSFIRA v0

VSSFIRA-v0

The VSSFIRA-v0 environment is a special case of the VSS-v0 environment which runs directly on FIRASim instead of rSim, however it needs a special setup to work properly, the environment was tested on the following condition:

Installing FIRASim

This environment was developed and tested #49 using a modified version of the VSSSLeague/FIRASim simulator v3.0 tag, which uses robot parameters from Parsian team robot. the changes which were made are available on @felipemartins96 FIRASim fork on tag rsoccer. So to use the environment as it was tested:

• Clone the FIRASim fork and checkout the tag rsoccer;
• Install the FIRASim binary as instructed.

Running the Environment:

For the environment to work, as it communicates synchronously through protobuf with FIRASim, FIRA needs to be running before making the environment, the procedure is:

• Run FIRASim headless using {FIRA_PATH}/bin/FIRASim -H
• With FIRASim running, run the code which creates a FIRASim environment
• The environment now should work communicating with FIRASim through the default ports

Limitations:

• FIRA field and robot parameters are hardcoded on rsoccer to match FIRASim;
• Does not support Division A (5x5) field;
• Does not support parallel environments (always using the same port);
• FIRASim without headless mode has untested behaviors;
• Not tested without synchronous execution modifications