Running the software

Running this testbed requires downloading some additional software:

• Java 3D 1.5.1
  • j3dcore.jar
  • j3dutils.jar
  • vecmath.jar
  • native library (.so or .dll file)
• QuickHull3D
  • quickhull3d.jar

To run the program, make sure it's parent directory includes every .jar you downloaded. Additionally, you should link the native library's parent directory using the java.library.path option. For example, assuming all files reside in the same directory, you should use:

`java -Djava.library.path=. -jar peno.jar`

Using the software

Running the testbed will spawn a file-selection screen. Select a world description file (cancel the selection will load an empty world). To move around in the world click on the canvas in the testbed and use the ¨WASD¨ keys and the arrows to rotate in the world. Add your autopilot by connecting to localhost:8000 using the wire protocol. Click the buttons in the GUI to start or pause the simulation.

Loading a new file while there is a drone in the simulator will keep the drone in the previous world. Reconnect the autopilot in this case.

Remarks

As this is the first version of our testbed it could contain some mistakes. Please report all your issues via the Issues tab of this website.