BABEL test kit v2.0

(c) Juan Antonio Fernandez Madrigal, 2006-2007
(c) Jose Luis Blanco Claraco, 2007
-------------------------------------------------

To test BABEL, you can generate and execute the following modules (they are in spanish but are self-contained):

A) "ICE_InterfazCORBA_(Simulator).ice" - simulator of a mobile robot
B) "ICE_PLS.ice" - laser sensor simulator, located at the front of the robot and with a scanning range of 180 degrees. 
C) "ICE_pruebaSims.ice" [The one in the directory of the application] - test module to call the others that allows the user to send simple movement commands to the robot and produce a log file of the navigation. 

You should follow these steps to complete the test (it is assumed that you have installed a distribution of Visual C++ 6.0):

1.- For each .ice file in this order: A, B, C, open the file with the ModuleDesigner and generate its source code with the Hyperion configuration. Use a different and clean directory for each one. Just when the ModuleDesigner ask you about compiling automatically, copy into the generation directory the .idl files that were generated from the previous modules (that is: in module A you do not have to copy any .idl file; in module B you have to copy the .idl from the module A; etc). Then, press the button to compile automatically the module.

2.- Copy in the Release directory of the laser module the files (from the generated directory): "map_example.png", "CONFIG_PLS_SimulatorFromBitmap.ini". Some of them define parameters for the sensor, while others are a graphical display that runs automatically when the module is executed. You can view and edit the environment file of the robot with any BMP editor.

3.- Copy in the Release directory of the InterfazCORBA module the file "CONFIG_InterfazCORBA_SIMULATOR.ini" from the generated directory.

4.- Execute the ExecutionManager. Register the three executables (one for each module) from their respective Release directories in the central panel and define an execution sequence in the right panel with this ordering: InterfazCORBA, PLS, pruebaSims.

5.- Launch from the ExecutionManager the name and event CORBA services. If you have any firewall, let them to access the network.

6.- Execute the sequence of modules. 

7.- You can interact with the robot through the console menu of the pruebaSims module: change the robot speed and orientation, logging the navigation, etc. The log, if closed and saved, will be located in the same directory as the executable file of the pruebaSims module. 

8.- End the application when you wish.

9.- You can view graphically the log file using the MatLab function DisplayLog included in the kit for loading the log.txt file generated by the PruebaSims module and the files OUT_LASER_SIM_GRIDMAP.BMP and OUT_LASER_SIM_GRIDMAP_LIMITS.TXT generated by the PLS module.  
