Multiple Robots in MobileSim

From MobileRobots Research and Academic Customer Support

To simulate multiple robots in MobileSim, open the "More Options" expander at startup, and either specify the number of robots you want (in this case each robot will be on a different TCP port, so you will need to specify that for each client) or choose the "Create new robot for each connection" option (which will create a new robot for each client connection). There are also command line options for choosing multiple robots (give multiple -r options or give the -R option, you can specify different robot models for each robot this way, as well as nicknames).

You can either run multiple client programs each connected to MobileSim (if you specified a specific number of robots in the startup dialog, or used multiple -r command line options, make sure to use different TCP ports with the -rrtp option), or you can create multiple ArRobot objects in one program and connect each with separate ArRobotConnector objects (there is an example of this called twoRobotWander.cpp in the ARIA examples directory).

See also: Viewing Multiple Robots in MobileEyes, the MobileSim documentation.