Running runswift
Open an ssh connection to the robot by running
$ ssh nao@mario
Note
Replace mario with the name of the robot’s head you’re using
Tip
nao
is the user name, andmario
is the hostname of the robot.Note
For passwords, please Contact us.
On the robot (in the terminal with the ssh connection), run
$ runswift
Once the chest light is flashing green double press the chest to stiffen the robot.
See also
Button Presses for ways to interact with the robot without a PC.
Options
Commonly used options are below:
Option |
Default |
Description |
---|---|---|
-T |
18 |
Team Number (eg. 18) |
-n |
2 |
Player Number (eg. 2) |
-s |
Game |
Name of top level body python behaviour skill to execute |
–stateestimation.initial_pose_type |
GAME |
Type of initial pose (GAME/UNPENALISED/SPECIFIED) |
–stateestimation.specified_initial_x |
0 |
Initial x value in mm (if stateestimation.initial_pose_type == SPECIFIED) |
–stateestimation.specified_initial_y |
0 |
Initial y value in mm (if stateestimation.initial_pose_type == SPECIFIED) |
–stateestimation.specified_initial_theta |
0 |
Initial theta value in degrees (if stateestimation.initial_pose_type == SPECIFIED) |
See also
runswift --help
for complete list of options
Example
To run a robot with
FieldPlayer skill
Starting from the centre of the field, facing opponent goal
$ runswift -s FieldPlayer --stateestimation.initial_pose_type SPECIFIED
Tip
Modify the options in runswift.cfg
to make it easier if you have a lot of options!