Path Tracer Tutorial

You can visualize the paths of each robot, including indicators for artifact locations and artifact guesses.

1. Run the path_tracer.ign launch file using the Citadel docker image. Replace PATH_TO_LOG_DIR with the directory containing your state.tlog file. Replace WORLD_NAME with the name of the world that matches the log file.

./run.bash -v "PATH_TO_LOG_DIR:/home/developer/log" -e IGN_PARTITION=PATH_TRACER osrf/subt-virtual-testbed:cloudsim_sim_citadel -v 4 path_tracer.ign worldName:=WORLD_NAME

2. Get the Container ID of the docker instance using docker ps. For example:

docker ps

CONTAINER ID  ...
fd964078b119  ...      

3. Log into the docker container. For example, using the Container ID from above:

docker exec -it fd964078b119 /bin/bash

4. Playback the log file from inside the docker container. The final number in this command is the number of milliseconds to sleep between time step playback.

./install/bin/path_tracer ~/logs/ 30